Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions

Changsheng Li; Yusheng Yan; Hongliang Ren

doi:10.1007/s10846-020-01186-0

Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions

Changsheng Li, Yusheng Yan, Hongliang Ren^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16^∘/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.

Original language	English
Pages (from-to)	435-444
Number of pages	10
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	100
Issue number	2
DOIs	https://doi.org/10.1007/s10846-020-01186-0
Publication status	Published - 1 Nov 2020
Externally published	Yes

Keywords

Finger exoskeleton
Hand exoskeleton
Ni-Ti rod
Rehabilitation
Super-elastic transmission

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10.1007/s10846-020-01186-0

Cite this

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title = "Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions",

abstract = "This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16∘/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.",

keywords = "Finger exoskeleton, Hand exoskeleton, Ni-Ti rod, Rehabilitation, Super-elastic transmission",

author = "Changsheng Li and Yusheng Yan and Hongliang Ren",

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T1 - Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions

AU - Li, Changsheng

AU - Yan, Yusheng

AU - Ren, Hongliang

PY - 2020/11/1

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N2 - This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16∘/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.

AB - This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16∘/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.

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KW - Hand exoskeleton

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Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions

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