TY - GEN
T1 - Design guidelines for a wearable robotic extra-finger
AU - Hussain, Irfan
AU - Salvietti, Gionata
AU - Malvezzi, Monica
AU - Prattichizzo, Domenico
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/10
Y1 - 2015/11/10
N2 - Wearable robotics is strongly oriented to humans. New applications for wearable robots are encouraged by the lightness and portability of new devices and the progress in human-robot cooperation strategies. In this paper, we propose the different design guidelines to realize a robotic extra-finger for human grasping enhancement. Such guidelines were followed for the realization of three prototypes obtained using rapid prototyping techniques, i.e., a 3D printer and an open hardware development platform. Both fully actuated and under-Actuated solutions have been explored. In the proposed wearable design, the robotic extra-finger can be worn as a bracelet in its rest position. The availability of a supplementary finger in the human hand allows to enlarge its workspace, improving grasping and manipulation capabilities. This preliminary work is a first step towards the development of robotic extra-limbs able to increase human workspace and dexterity.
AB - Wearable robotics is strongly oriented to humans. New applications for wearable robots are encouraged by the lightness and portability of new devices and the progress in human-robot cooperation strategies. In this paper, we propose the different design guidelines to realize a robotic extra-finger for human grasping enhancement. Such guidelines were followed for the realization of three prototypes obtained using rapid prototyping techniques, i.e., a 3D printer and an open hardware development platform. Both fully actuated and under-Actuated solutions have been explored. In the proposed wearable design, the robotic extra-finger can be worn as a bracelet in its rest position. The availability of a supplementary finger in the human hand allows to enlarge its workspace, improving grasping and manipulation capabilities. This preliminary work is a first step towards the development of robotic extra-limbs able to increase human workspace and dexterity.
UR - http://www.scopus.com/inward/record.url?scp=84964344998&partnerID=8YFLogxK
U2 - 10.1109/RTSI.2015.7325071
DO - 10.1109/RTSI.2015.7325071
M3 - Conference contribution
AN - SCOPUS:84964344998
T3 - 2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings
SP - 54
EP - 60
BT - 2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st IEEE International Forum on Research and Technologies for Society and Industry, RTSI 2015
Y2 - 16 September 2015 through 18 September 2015
ER -
