| Issue |
MATEC Web Conf.
Volume 393, 2024
2nd International Conference on Sustainable Technologies and Advances in Automation, Aerospace and Robotics (STAAAR-2023)
|
|
|---|---|---|
| Article Number | 04003 | |
| Number of page(s) | 10 | |
| Section | Robotics | |
| DOI | https://doi.org/10.1051/matecconf/202439304003 | |
| Published online | 13 March 2024 | |
A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance
1 School of Robotics, Defence Institute of Advanced Technology (DU), Pune, India
2 Computational Mechanics, Indian Institute of Technology, Ropar, India
* Corresponding author: dhalarpeet100@gmail.com
Addressing the challenges faced by individuals with motor disabilities, which impedes ease in movement, coordination, or sensation, a low-weight hand exoskeleton was developed considering accessibility, low cost, adaptability, and mass manufacturing to overcome the impact of hand functioning disorders on people's physical and social well-being. In this paper, a 12-DOF Hand exoskeleton consisting of a 6-DOF Arm and 6-DOF finger exoskeleton was designed and later its kinematic analysis was performed. By taking into consideration the constraints provided by the exoskeleton to human hand motion, the Forward kinematics, using Denavit- Hartenberg (D-H) parameters were conducted to determine its workspace.
© The Authors, published by EDP Sciences, 2024
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