Name
Abstract | ||
|---|---|---|
This paper describes the mechanical design, actuation and sensing of an exoskeleton for hand function training after stroke. The frame is 3D-printed in one piece including the joints. Apart from saving assembly time, this enables parametrization of the link sizes in order to adapt it to the patient's hand and reduce joint misalignment. The joint angles are determined using Hall effect sensors. They measure the change of the magnetic field of in the joints integrated magnets achieving an average accuracy of 1.25 °. Tendons attached to the finger tips transmit forces from motors. The armature current, which is proportional to the force transmitting tendons is measured using a shunt and controlled by a custom-made current-limiter circuit. Preliminary experiments with a force/torque-sensor showed high linearity and accuracy with a root mean square error of 0.5937 N in comparison to the corresponding forces derived from the motor torque constant. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICORR.2013.6650505 | ICORR |
Keywords | Field | DocType |
integrated magnets,medical robotics,torque-sensor,current limiters,force sensors,hall effect devices,hall effect sensors,parameterizable exoskeleton,hand function training,magnetic field change measurement,human-robot interaction,custom-made current-limiter circuit,dexterous manipulators,control engineering computing,prosthetics,magnetic field measurement,link size parametrization,assembly time saving,force-sensor,design engineering,joint misalignment reduction,mechanical design,motor torque constant,medical computing,mechanical engineering computing,force,sensors,exoskeletons,torque sensor,force sensor,human robot interaction | Magnetic field,Parametrization,Shunt (electrical),Control theory,Hall effect sensor,Linearity,Magnet,Mean squared error,Exoskeleton,Engineering | Conference |
Volume | ISSN | ISBN |
2013 | 1945-7901 | 978-1-4673-6022-7 |
Citations | PageRank | References |
2 | 0.51 | 2 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Patrick Weiss | 1 | 2 | 0.85 |
| Lars Heyer | 2 | 2 | 0.51 |
| Thomas F Münte | 3 | 11 | 2.22 |
| Marcus Heldmann | 4 | 2 | 1.87 |
| Achim Schweikard | 5 | 6 | 1.99 |
| Erik Maehle | 6 | 676 | 130.34 |