Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Author:

Tan Guan Rong1,Robson Nina Patarinsky2,Soh Gim Song3

Affiliation:

1. Robotics Innovation Laboratory, Singapore University of Technology and Design, Singapore 487372, Singapore e-mail:

2. Mechanical Engineering Department, California State University, Fullerton, CA 92843 e-mail:

3. Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore e-mail:

Abstract

This paper describes a dimensional synthesis method used in the design of a passive finger exoskeleton that takes into account the user limb anthropometric dimensions and contact requirements for grasping objects. The paper is the first step in our current efforts on the design of wearable devices that use a common slider at the hand to passively drive each exofinger. The finger exoskeleton is comprised of a 3R serial limb and is constrained to multiloop eight-bar slider mechanism using two RR constraints. To design the exolimb, the pose of the limb was captured using an optical motion capture and its dimensions were determined using a constrained least square optimization, which takes into account human skin movement. To illustrate the generality of our approach, an example of the design of an index and middle finger exolimb is described.

Funder

"Division of Chemical, Bioengineering, Environmental, and Transport Systems"

Qatar National Research Fund

Science and Engineering Research Council

Singapore University of Technology and Design

Publisher

ASME International

Subject

Mechanical Engineering

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