Design, implementation and control ofan underactuated hand exoskeleton
Başlık çevirisi mevcut değil.
- Tez No: 718658
- Danışmanlar: DR. ANTONİO FRISOLI
- Tez Türü: Doktora
- Konular: Mekatronik Mühendisliği, Makine Mühendisliği, Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Mechatronics Engineering, Mechanical Engineering, Computer Engineering and Computer Science and Control
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2017
- Dil: İngilizce
- Üniversite: Scuola Normale Superıore Dı Pısa
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: Belirtilmemiş.
Özet
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Özet (Çeviri)
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted activities of daily living. Even though the proposed exoskeleton was designed with the purpose of assisting users during interactions with real objects around them, its use can be extended for haptic applications as well. The design requirements of a generic hand exoskeleton, which can be used for all types of applications, were listed after an intensive literature search. These requirements lead us to have a novel kinematics selection. In particular, a generic hand exoskeleton should be portable, lightweight and easily wearable for allowing patients with hand disabilities to use the device. The hand exoskeleton should assist all fingers of the user independently. Using linkage-based kinematics with intentional misalignment between mechanical and anatomical finger joints allows the device to adopt its operation for different hand sizes automatically. The device assists only 2 finger joints of each finger for flexion/extension using a single actuator. Such an assistance can be achieved by adopting underactuation concept, which can adjust force transmission for finger joints based on physical interaction forces. Doing so, the exoskeleton can assist users grasping objects with different sizes and shapes automatically, with no prior information. Finally, the connection mechanics of the device is designed to exert only perpendicular forces to the finger phalanges to increase the realism of natural interaction forces between the user and objects. Overall, the easiness of the attachment to user's fingers, better comfort and improved security are guaranteed. I performed pose analysis, differential kinematics analysis, statics analysis and stability of grasp analysis for the proposed kinematics. The lengths of mechanical links for each ii finger component are optimized to increase range of motion for finger joints and efficacy of force transmission. An additional potentiometer attached on the system allows the finger pose to be predicted during operation. For the electronic components, a DSP board is selected to run all sensory measurements, control algorithms and motor driver connections. The proposed underactuated hand exoskeleton can be controlled in various ways. First of all, a strict position control is performed based on a simple position controller. The performance of the PI control is enhanced by temperature filters and backdrive force support. The position controller can be used to perform grasping tasks for assistive or rehabilitation applications, thanks to the automatic adjustment of operation. The same position control can be used with a EMG based trajectory, instead of pre-defined passive trajectory. In particular, patients with disabilities are asked to move their unimpaired hand, on which muscular activity can be measured with EMG sensors, and the exoskeleton can assist their impaired hand to perform the same movement. Involving users in the execution of the tasks to define the trajectory turns the task into an active exercise. The EMG activities can move user's impaired hand in a coupled or independent manner. Finally, a force control algorithm is proposed by equipping an additional force sensor for each finger component to let the user open/close his fingers by applying external forces to it. Thanks to the active backdriveability, the exoskeleton can detect user's intentions and follow his intentions or amplify the movements for assistance. The force control algorithm was extended for stiffness rendering algorithm to provide force feedback to user based on virtual interactions during a haptic task. Since the underactuation property suffers from the lack of controllability of joints, additional rendering strategies are proposed, which can be generalized for any underactuated device in the literature. Feasibility studies show the efficacy of the proposed strategies to determine the transmitted forces along finger joints, while ensuring the safety of these strategies compared to conventional rendering algorithms
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