Thesis
Design and characterization of the exo-skin haptic device: a novel tendon actuated textile hand exoskeleton
Master of Science (M.S.), Drexel University
May 2017
DOI:
https://doi.org/10.17918/vg6d-py62
Abstract
The Exo-Skin system is a tendon actuated wearable robotic device for use in remote rehabilitation and grip assistance applications. The device has two functional components: the textile exoskeleton glove and web-based user interface. The textile exoskeleton is constructed using 3D seamless knit technologies, enabling rapid and inexpensive production on an industrial scale. Knit structures within the textile provide a natural interface between the actuated tendons and the user's hand. This allows the device to sense and induce flexion and extension unique to each digit. The Exo-Skin device can be used as a distributed control system communicating over HTTPS. Multiple clients can access the glove interface remotely via the web, providing the framework for haptic tele-rehabilitation applications. The functional capabilities of the device were characterized. Grasping to full flexion could be executed in 2 seconds. The composite joint angular resolution sensed by the device during motion induction was 0.134 degrees. Very low variability in sensing and motion induction was found between trials (coefficient of variation < 0.02). Results indicate that motion induced by the device encompassed the functional range of motion of a healthy hand. Force output characterization determined the device could exert pinch forces in the 4 - 6 N range and grip forces in the 10 - 12 N range with very low variability between exertions (coefficient of variation = 0.124). These forces are adequate to assist the wearer in activities for daily living, enabling assistance as needed therapy during recovery.
Metrics
81 File views/ downloads
47 Record Views
Details
- Title
- Design and characterization of the exo-skin haptic device
- Creators
- Michael David Koerner - DU
- Contributors
- Andrew R. Cohen (Advisor) - Drexel University (1970-)Genevieve Dion (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Number of pages
- xii, 76 pages
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems (1997-2026); Drexel University
- Other Identifier
- 7808; 991014632240004721