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Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living
Popov, Dmitry,Gaponov, Igor,Ryu, Jee-Hwan IEEE 2017 IEEE/ASME transactions on mechatronics Vol.22 No.2
<P>This paper presents a new portable exoskeleton glove developed for assistance in activities of daily living ( ADL). The proposed glove is soft, adjustable, allows unconstrained motion of the wrist, and leaves the palm free for object grasping and manipulation. In the proposed design, both flexion and extension motions of the thumb and three fingers ( excluding the little finger) are supported by respective bidirectional actuators. The kinematics of the device were derived and are presented along with an experimental evaluation. The developed glove system is compact and light, with the weights of the wearable part and the whole system being 250 and 340 g, respectively. The maximum pinch force provided by the device was experimentally measured to be 16 N, which gives the proposed device one of the highest power-to-weight ratio among existing portable devices for hand ADL assistance. The usability of the developed device was verified in a series of indoor and outdoor tests. The glove allowed test subjects to hold and manipulate versatile objects with diameters up to 90 mm and weighing 300 g. When powered by a conventional 3000-mAh battery, the glove could operate continuously performing grasping task for 4 h.</P>
Dmitry Popov,이광현,Igor Gaponov,유지환 한국로봇학회 2013 로봇학회 논문지 Vol.8 No.3
This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.
Auxilio: A Portable Cable-Driven Exosuit for Upper Extremity Assistance
GAPONOVIGOR,유지환,Dmitry Popov,이승준 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper introduces a fully portable, lightweight exosuit-type device for shoulder and elbow assistance. The main motivation of this research was to design a portable upper limb exosuit capable to assist dynamic rehabilitationtasks where patient can involve trunk motions and overground movements (e.g., during pick-and-placetasks). The proposed system provides assistance for shoulder flexion and abduction, as well as for elbow flexion. The mechanism is driven by DC motors which are worn on the wearer’s back, and the power is transferred fromthe actuators to the arm by means of cable-driven transmission. The unique features of the proposed exosuit arethe absence of rigid links or joints around the arm, high compliance and portability. This paper describes operatingprinciple and kinematic model of the proposed exosuit and provides force analysis and experimental evaluation ofthe manufactured device. As the result of this work, we performed a simulation of rehabilitation scenario with thedeveloped wearable prototype.
Rotational Twisted String Actuator with Linearized Output for a Wearable Exoskeleton
Usman Mehmood(우스만 매흐무드),Dmitry Popov(드미트리 포포프),Igor Gaponov(이고르 가파노브),Jee-Hwan Ryu(유지환) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.