Design and prototype of supernumerary robotic finger (SRF) inspired by fin ray® effect for patients suffering from sensorimotor hand impairment

Irfan Hussain, Muddasar Anwar, Zubair Iqbal, Rajkumar Muthusamy, Monica Malvezzi, Lakmal Seneviratne, Dongming Gan, Federico Renda, Domenico Prattichizzo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

In this paper, we present the design and prototype of a wearable supernumerary robotic finger, inspired by Fin Ray®, an underactuated device inspired by the physiology of fish fins. The application we propose has been designed for patients suffering from sensorimotor hand impairment, to compensate their missing grasping abilities. In this context Fin Ray® effect based closed-chain structure, effectively exploiting underactuation and compliance, are an interesting solution to meet the ergonomics and functional requirements, and to get a light but robust wearable device. The finger is actuated through a single linear actuator and it has a complaint structure with stiff crossbeams that buckle and deform in to conform around objects. We performed Finite Element Modeling (FEM) simulations to compare the soft-rigid structure with the Fin Ray® effect based closed-chain structure. We performed a set of tests to exploit the device potentialities in grasp compensation tasks through qualitative experiments based on activity daily living (ADL). Results showed that proposed robotic device can improve the autonomy of patients suffering from sensorimotor hand impairment in ADL and allow them to complete tasks which otherwise are impossible to perform.

Original languageBritish English
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages398-403
Number of pages6
ISBN (Electronic)9781538692608
DOIs
StatePublished - 24 May 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Country/TerritoryKorea, Republic of
CitySeoul
Period14/04/1918/04/19

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