Developing hand with three aluminum rings fixed on each

ideas (Planning)


The robotic hand exoskeleton fits the need of seniors with
quadriplegia because it takes into account both of the problems that the
pre-existing products had, including the verbal voice activation robot and the
EMG measured input robot. The robotic hand exoskeleton has altered the faults
of the verbal activation robot as well as the EMG control input robot. It now
consists of EEG and EMG signals being sent from the brain through the senior
patient’s pictorial feedback, which produces signals. The design of the product
was made to improve the usage for the seniors, but can still be improved
through evaluation.

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The robotic hand exoskeleton consists of a pinching motion in the
hand with the index finger and the thumb. The exoskeleton has three aluminum
rings fixed on the three joints in the index finger with the four degrees of
freedom. For the pointing end of the finger, the joints include the distal
interphalangeal (DIP), proximal interphalangeal (PIP), and metacarpophalangeal
(MCP) (Lucas, DiCicco, Matsuoka 2). The DIP and PIP joints have the
flexion/extension degrees of freedom, while the MCP has both the
flexion/extension and abduction/adduction degrees of freedom (all four) (Lucas,
DiCicco, Matsuoka 2). In order for a successful, steady pinching motion with
the thumb, all three joints are required flexion and extension. The flexion and
extension aspects of the DIP and POP joints are attached, but the DIP/PIP and
MCP flexion and extension are self-regulating. Abduction/adduction (active)
activities of the index finger are not used to allow the end of the index
finger to meet the thumb, but instead, passive abduction/adduction is used to
aid the senior’s finger in conforming to its targeted item (Lucas, DiCicco,
Matsuoka 2). In order to maintain these movements, there needs to be:

A coupled active degree of freedom
for the DIP and PIP flexion/extension

An active degree of freedom for
MCP flexion/extension

A passive degree of freedom for
the MCP abduction/adduction


“Pneumatic pistons are used for both active
degrees of freedom, which activates a cabling system. There are variable
pressure pneumatic cylindrical valves, which the pistons are linked to. The
cylindrical valves allow the movements to be accomplished by a linear actuation
of 1 to 1.5 inches, depending on the hand size of the senior (ExoHand). The orthotic
robotic hand exoskeleton consists of the machine-driven framework made out of
aluminum anchoring plates fixed to the back of the hand with three aluminum
rings fixed on each joint of the index finger” (TBI Rehabilitation). These
three metal pieces on the joints will allow for an easy pinching form for the senior
quadriplegic individual. The three aluminum rings are adjustable in size for seniors
with differing index finger sizes. The flexion of the PIP and DIP joints in the
index finger is shaped by the steel cables running along the front of each
index finger band and behind the hand. The cables are pulled back by the
pneumatic cylinders acting as a compression force. “When the extended pneumatic
cylinders push the linking mechanism forward to the distal end, the MCP joint
results in flexion of the senior’s finger. There is a flexible coupling between
the base