Technical Session - 3

Title:            Kinematic Modelling and Geometric Optimization of a Cable-driven Hand Exoskeleton for Haptic Applications
Authors:       Tin Huu Le Quang Nguyen, Viet-Hong Tran
Abstract:     This paper describes kinematic model of a cable-driven hand exoskeleton and optimization of its geometry to meet primary performance requirements in haptic applications. Firstly, forward and inverse kinematics of both 2-link and 3-link finger configurations were derived. Then, an optimization problem to find proper lengths of the linkage, which maximize the efficiency of the drive system and the contact force at user’s finger under mechanical design constraints, was stated and the solving procedure was proposed. Lastly, the optimal results were subjected to a collision detection algorithm to finalize the exoskeleton’s geometry. The results will be the foundation for future studies on the design of cable routing system, contact force sensor system and drive system of the hand exoskeleton model.

Keywords:  Exoskeleton, Haptic, Kinematic, Cable-driven, Optimization
Pages:        172-176

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