Wearable robotics is strongly oriented to humans. New applications for wearable robots are encouraged by the lightness and portability of new devices and the progress in human-robot cooperation strategies. In this paper, we propose the different design guidelines to realize a robotic extra-finger for human grasping enhancement. Such guidelines were followed for the realization of three prototypes obtained using rapid prototyping techniques, i.e., a 3D printer and an open hardware development platform. Both fully actuated and under-actuated solutions have been explored. In the proposed wearable design, the robotic extra-finger can be worn as a bracelet in its rest position. The availability of a supplementary finger in the human hand allows to enlarge its workspace, improving grasping and manipulation capabilities. This preliminary work is a first step towards the development of robotic extra-limbs able to increase human workspace and dexterity.
Hussain, I., Salvietti, G., Malvezzi, M., Prattichizzo, D. (2015). Design guidelines for a wearable robotic extra-finger. In Proc. 2015 IEEE 1st International Forum on Research and Technologies for Society and Industry Leveraging a better tomorrow (RTSI) (pp.54-60). New York : IEEE [10.1109/RTSI.2015.7325071].
Design guidelines for a wearable robotic extra-finger
HUSSAIN, IRFAN;SALVIETTI, GIONATA;MALVEZZI, MONICA;PRATTICHIZZO, DOMENICO
2015-01-01
Abstract
Wearable robotics is strongly oriented to humans. New applications for wearable robots are encouraged by the lightness and portability of new devices and the progress in human-robot cooperation strategies. In this paper, we propose the different design guidelines to realize a robotic extra-finger for human grasping enhancement. Such guidelines were followed for the realization of three prototypes obtained using rapid prototyping techniques, i.e., a 3D printer and an open hardware development platform. Both fully actuated and under-actuated solutions have been explored. In the proposed wearable design, the robotic extra-finger can be worn as a bracelet in its rest position. The availability of a supplementary finger in the human hand allows to enlarge its workspace, improving grasping and manipulation capabilities. This preliminary work is a first step towards the development of robotic extra-limbs able to increase human workspace and dexterity.
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https://hdl.handle.net/11365/981367