TY - GEN
T1 - Developing of A Rigid-Compliant Finger Joint Exoskeleton Using Topology Optimization Method
AU - Liang, Renghao
AU - Xu, Guanghua
AU - He, Bo
AU - Li, Min
AU - Teng, Zhicheng
AU - Zhang, Sicong
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - Robotic hand exoskeletons can provide assistance to people who suffer from hand functional disability or spinal cord injury (SCI). However, the current hand exoskeletons remain challenging with respect to having a user-friendly design that satisfies human motion with a lightweight structure. Here we propose a method of using topology optimization in the design of finger exoskeletons, which is a lightweight and integrate manufactured exoskeleton. The exoskeleton is designed by generating the topology configuration according to the bending state of the finger. The objective function in the optimization is set to be the maximization of output displacement of the design domain. After obtaining the topology configuration, a conjugate surface flexure hinge is developed as an elastic joint to replace the compliant part of the topologies. Finally, a rigid-compliant parallel exoskeleton is fabricated by a 3D printer and the performance of the mechanism is verified.
AB - Robotic hand exoskeletons can provide assistance to people who suffer from hand functional disability or spinal cord injury (SCI). However, the current hand exoskeletons remain challenging with respect to having a user-friendly design that satisfies human motion with a lightweight structure. Here we propose a method of using topology optimization in the design of finger exoskeletons, which is a lightweight and integrate manufactured exoskeleton. The exoskeleton is designed by generating the topology configuration according to the bending state of the finger. The objective function in the optimization is set to be the maximization of output displacement of the design domain. After obtaining the topology configuration, a conjugate surface flexure hinge is developed as an elastic joint to replace the compliant part of the topologies. Finally, a rigid-compliant parallel exoskeleton is fabricated by a 3D printer and the performance of the mechanism is verified.
UR - https://www.scopus.com/pages/publications/85125491368
U2 - 10.1109/ICRA48506.2021.9560753
DO - 10.1109/ICRA48506.2021.9560753
M3 - 会议稿件
AN - SCOPUS:85125491368
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 10499
EP - 10504
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -