Haptic Hand Exoskeleton for Precision Grasp Simulation

This paper outlines the design and the development of a novel robotic hand exoskeleton (HE) conceived for haptic interaction in the context of virtual reality (VR) and teleoperation (TO) applications. The device allows exerting controlled forces on fingertips of the index and thumb of the operator. The new exoskeleton features several design solutions adopted with the aim of optimizing force accuracy and resolution. The use of remote centers of motion mechanisms allows achieving a compact and lightweight design. An improved stiffness of the transmission and reduced requirements for the electromechanical actuators are obtained thanks to a novel principle for integrating speed reduction into torque transmission systems. A custom designed force sensor and integrated electronics are employed to further improve performances. The electromechanical design of the device and the experimental characterization are presented

A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR). The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (paired t-test, p < 0.02

Novel Magnetic Sensing Approach with Improved Linearity

sensor

An Innovative Actuation Concept for a New Hybrid Robotic System

In this article a novel actuation concept of robotic manipulators is presented. The concept is based on an innovative extension of gravity balancing techniques using passive elements. It allows to exert, at the level of the end effector, a force of variable intensity and generic spatial orientation without any motor torque required during any movement of the manipulator, except when a change of the exerted force’s intensity and/or orientation is requested. So, a new hybrid machine can be realized combining the benefits of active and passive existing systems without their drawbacks, with possible very high potentials in robotics applications