Development and Testing of Hand Exoskeletons (eBook)

Matteo Bianchi (Autor)

eBook Download: PDF

2020 | 1st ed. 2020
XVII, 107 Seiten
Springer International Publishing (Verlag)
978-3-030-37685-7 (ISBN)

Infos

This book describes the development of portable, wearable, and highly customizable hand exoskeletons to aid patients suffering from hand disabilities. It presents an original approach for the design of human hand motion assistance devices that relies on (i) an optimization-based kinematic scaling procedure, which guarantees a significant adaptability to the user's hands motion, and (ii) a topology optimization-based design methodology, which allowed the design of a lightweight, comfortable device with a high level of performance. The book covers the whole process of hand exoskeleton development, from establishing a new design strategy, to the construction and testing of hand exoskeleton prototypes, using additive manufacturing techniques. As such, it offers timely information to both researchers and engineers developing human motion assistance systems, especially wearable ones.

Dr. Matteo Bianchi is currently a Postdoctoral Researcher of the Department of Industrial Engineering of the University of Florence (DIEF), Italy,Prof. Benedetto Allotta's research team. Prior to his current role at DIEF,Matteo received the B.Sc. degree in Mechanical Engineering in 2013 and M.Sc. degree in Biomedical Engineering in 2015, both from the UniversityFlorence, Italy. He spent also three years as a Ph.D. student conducting research activity within the Mechatronics and Dynamic Modeling Laboratory (MDM Lab) of the DIEF. During his Ph.D. course, his primary research interest lies in the ?eld of biomechanics and biorobotics, with special attentionto the development of innovative design strategies of hand exoskeletons human motion assistance and to their testing.

This book is the result of the Matteo's Ph.D. thesis and collects the outcomes of his activity, which resulted in multiple publications in international journals and peer-reviewed conference papers, and in the awarding his Ph.D. degree in Industrial and Reliability Engineering in April 2019.His current research interests include mechanical design, modeling and

development of wearable robotic systems and exoskeletons.

Inhalt

Supervisor’s Foreword 7
Parts of this thesis have been published in the following documents: 8
Acknowledgements 9
Contents 11
Nomenclature 13
Acronyms 15
1 Introduction 16
1.1 Overall Framework 17
1.2 State of the Art of Hand Exoskeletons 19
1.3 Contribution and Thesis Structure 21
References 22
2 Mathematical Background 25
2.1 Kinematic Analysis and Synthesis 26
2.2 Kineto-Statics 32
2.3 Lagrangian Formulation 33
References 37
3 Optimization-Based Scaling Procedure 38
3.1 Hand Motion Capture 41
3.1.1 Protocol for Hand Motion Analysis 42
3.1.2 Hand Motion Analysis Setup 42
3.2 Hand Model 43
3.2.1 Finger Trajectory Definition 45
3.2.2 COR Definition 46
3.2.3 Alignment with Horizontal Plane 48
3.3 Optimization Process 49
3.3.1 Target Trajectory Definition 50
3.3.2 Determination of the Optimal Exoskeleton 53
3.4 Tests and Results 56
References 57
4 ABS Hand Exoskeleton Prototypes: Experimental Results 59
4.1 First Prototype: Kinematic Validation 59
4.2 Second Prototype: Optimization Manufacturability Assessment 67
4.3 Third Prototype: Final Solution 72
References 79
5 Aluminum Hand Exoskeleton Prototype 80
5.1 Topology Optimization 80
5.2 General Architecture 82
5.3 Model Description 83
5.3.1 Test Case Definition and Benchmark Test 83
5.3.2 Design Space Definition 86
5.3.3 Objective Function and Optimization Constraints 87
5.3.4 Optimization Algorithm 89
5.3.5 Geometry Reconstruction 91
5.4 Topology Optimization Results 92
5.4.1 Optimization Model Generation 93
5.4.2 Optimized Device Assessment 96
5.5 Design for Manufacturing 97
5.5.1 Actuation System Design 100
5.5.2 Back Frame Design 103
5.5.3 Joints Couplings Solutions 104
5.6 Proof of Concept 104
References 107
6 Conclusion 109
References 110
Appendix Back Frame Topology Optimization 111
Appendix Author's Biography 116

Produkt-Details

• Erscheint lt. Verlag: 5.2.2020
• Reihe/Serie: Springer Theses
• Reihe/Serie: Springer Theses
• Zusatzinfo: XVII, 107 p. 56 illus., 51 illus. in color.
• Sprache: englisch
• Themenwelt: Medizin / Pharmazie
• Themenwelt: Technik ► Maschinenbau
• Themenwelt: Wirtschaft ► Betriebswirtschaft / Management ► Logistik / Produktion
• Schlagworte: Actuation System Design • Aluminum Hand Exoskeleton • Back Frame Design • Design of Joints • Force and Torque on Joints • Hand Motion Models • Kineto-static Analysis • Mechanism Optimization • Motion Analysis of Hand Exoskeletons • Optimization-based Scaling Procedure • Patient-centred Design • Portable Hand Exoskeletons • Topology Optimization
• ISBN-10: 3-030-37685-0 / 3030376850
• ISBN-13: 978-3-030-37685-7 / 9783030376857