Design, fabrication, and control techniques of a four-DOF robotic wrist-hand exoskeleton

摘要

Abstract A wrist-hand exoskeleton designed to assist individuals with wrist and hand limitations is presented in this paper. The novel design is developed based on specific selection criteria, addressing all the Degrees of Freedom (DOF). In the conceptual design phase, design concepts are created and assessed before being screened and scored to determine which concept is the most promising. Performance and possible restrictions are assessed using kinematic and dynamic analysis. Using polylactic acid material, the exoskeleton is prototyped to ensure structural integrity and fit. Manual control, master-slave control, and electroencephalography (EEG) dataset-based control are among the control strategies that have been investigated. Direct manipulation is possible with manual control, nevertheless, master-slave control uses sensors to map user motions. Brain signals for hand opening and closing are interpreted by EEG dataset-based control, which manages the hand open-close of the exoskeleton. This study introduces a novel wrist-hand exoskeleton that improves usefulness, modularity, and mobility. While the numerous control techniques give versatility based on user requirements, the 3D printing process assures personalization and flexibility in design.