Design, control, and testing of a thumb exoskeleton with series elastic actuation

Author:

Agarwal Priyanshu1,Yun Youngmok1,Fox Jonas1,Madden Kaci1,Deshpande Ashish D1

Affiliation:

1. Mechanical Engineering Department, University of Texas at Austin, USA

Abstract

We present an exoskeleton capable of assisting the human thumb through a large range of motion. Our novel thumb exoskeleton has the following unique features: (i) an underlying kinematic mechanism that is optimized to achieve a large range of motion, (ii) a design that actuates four degrees of freedom of the thumb, and (iii) a series elastic actuation based on a Bowden cable, allowing for bidirectional torque control of each thumb joint individually. We present a kinematic model of the coupled thumb exoskeleton system and use it to maximize the range of motion of the thumb. Finally, we carry out tests with the designed device on four subjects to evaluate its workspace and kinematic transparency using a motion capture system and torque control performance. Results show that the device allows for a large workspace with the thumb, is kinematically transparent to natural thumb motion to a high degree, and is capable of accurate torque control.

Funder

National Science Foundation

National Aeronautics and Space Administration

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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