Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model

This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteris...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Qiaoling Meng, Zhijia Shen, Zhiyang Nie, Qingyun Meng, Zhiyu Wu, Hongliu Yu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	exoskeleton hand rehabilitation human-machine flexible hinge soft robotics Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/e9885feaf60b4709afca473f6809a359
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:e9885feaf60b4709afca473f6809a359
record_format	dspace
spelling	oai:doaj.org-article:e9885feaf60b4709afca473f6809a3592021-11-25T16:38:45ZModeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model10.3390/app1122108252076-3417https://doaj.org/article/e9885feaf60b4709afca473f6809a3592021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10825https://doaj.org/toc/2076-3417This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.Qiaoling MengZhijia ShenZhiyang NieQingyun MengZhiyu WuHongliu YuMDPI AGarticleexoskeletonhand rehabilitationhuman-machineflexible hingesoft roboticsTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10825, p 10825 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	exoskeleton hand rehabilitation human-machine flexible hinge soft robotics Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	exoskeleton hand rehabilitation human-machine flexible hinge soft robotics Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
description	This paper presents the modeling design method for a novel hybrid-driven compliant hand exoskeleton based on the human-machine coupling model for the patients who have requirements on training and assisting. Firstly, the human-machine coupling model is established based on the kinematics characteristics of human fingers and the Bernoulli beam formula. On this basis, the variable stiffness flexible hinge (VSFH) is used to drive the finger extension and the cable-driven mechanism is used to implement the movement of the finger flexion. Here, a hand orthosis is designed in the proposed hand exoskeleton to act as the base and maintain the function position of the hand for patients with hand dysfunction. Then, a final design prototype is fabricated to evaluate the proposed modeling method. In the end, a series of experiments based on the prototype is proceeded to evaluate its capabilities on stretching force for extension, bio-imitability, finger flexion capability, and fingertip force. The results show that the prototype has a significant improvement in all aspects of the ability mentioned above, and has good bionics. The proposed design method can be utilized to implement the rapid design of the hybrid-driven compliant hand exoskeleton with the changed requirements. The novel modeling method can be easily applied in personalized design in rehabilitation engineering.
format	article
author	Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu
author_facet	Qiaoling Meng Zhijia Shen Zhiyang Nie Qingyun Meng Zhiyu Wu Hongliu Yu
author_sort	Qiaoling Meng
title	Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
title_short	Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
title_full	Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
title_fullStr	Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
title_full_unstemmed	Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model
title_sort	modeling and evaluation of a novel hybrid-driven compliant hand exoskeleton based on human-machine coupling model
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/e9885feaf60b4709afca473f6809a359
work_keys_str_mv	AT qiaolingmeng modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel AT zhijiashen modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel AT zhiyangnie modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel AT qingyunmeng modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel AT zhiyuwu modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel AT hongliuyu modelingandevaluationofanovelhybriddrivencomplianthandexoskeletonbasedonhumanmachinecouplingmodel
_version_	1718413111184064512

Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model

Ejemplares similares