Hand and Wrist Exoskeleton for Delicate, Repetitive Tasks

本研究旨在设计和开发一种新型的手和手腕外骨骼，降低重复性劳损损伤的风险，使用户能够安全准确地进行重复性、精细的任务。该项目的目标如下：回顾相关文献。设计和开发一种新颖的手和手腕外骨骼。建立数学模型并进行理论分析。开发外骨骼控制系统。使用各种工具进行模拟研究。对不同的任务进行实验。在本项目开始时将进行文献综述，其中将审查手指外骨骼的最新技术。我们还将回顾有关重复性劳损损伤、腕管和机械预防措施的文献，收集到的数据将成为设计全手和腕部外骨骼的基础。手和手腕外骨骼将使用3D CAD软件（如Solidworks）设计，考虑所有设计要求和约束，这些要求和约束将从文献中收集并咨询利益相关者。外骨骼设计将通过模拟研究进行验证。设计的外骨骼原型将被开发出来。很少有传感器，如加速度传感器、霍尔传感器、力传感器、压力传感器和弯曲传感器将用于数据采集和反馈控制。手指外骨骼的机构将利用电缆连接进行力传递，因为它更精致、更轻，而其他机械连接方法通常体积庞大，需要精细的控制（Li et al., 2020）。腕-手机制将是被动的，设计不限制所有的手腕自由度，即屈曲、伸展、外展和内收。它将提供一个舒适的休息手腕稳定的手对一个表面，允许更大的稳定性，同时执行微妙的任务。建立外骨骼的数学模型，并进行理论分析。将根据手指和手的运动为外骨骼开发一种控制算法。仿真研究将使用Matlab/Simulink和VREP进行，算法将在外骨骼上实现。实验将针对各种任务进行，以验证外骨骼的能力和控制算法的性能。整个过程可以重复进行，以改善外骨骼的设计和外骨骼的控制。

This research aims to design and develop a novel hand and wrist exoskeleton that reduces the risk of RSI repetitive strain injury, allowing the user to conduct repetitive, delicate tasks safely and accurately. The objectives of the project are listed below:To review the relevant literature.To design and develop a novel hand and wrist exoskeleton.To develop a mathematical model and perform theoretical analysis.To develop the control system for the exoskeleton.To perform simulation studies using various tools.To conduct experimentation for various tasks.A literature review will be undertaken at the start of this project, where the state-of-the-art of hand-finger exoskeletons will be reviewed. The literature on RSI repetitive strain injury, Carpal tunnel and mechanical preventative measures will also be reviewed, and the data collected will form the basis for the design of the full hand and wrist exoskeleton.The Hand and Wrist Exoskeleton will be designed using 3D CAD software such as Solidworks considering all the design requirements and constraints which will be gathered from literature and consulting with the stakeholders. The exoskeleton design will be validated using a simulation study. A prototype of the designed exoskeleton will be developed. Few sensors such as accelerometers, hall sensors, force sensors, pressure sensors and flex sensors will be used for data acquisition and feedback control.The mechanism for the hand-finger exoskeleton will utilise cable linkage for force transmission, as it is more delicate and lightweight, whereas other mechanical linkage methods are typically bulky and delicate control is required (Li et al., 2020). The wrist-hand mechanism will be passive, designed to not restrict all wrist degrees of freedom, i.e. flexion, extension, abduction and adduction. It will provide a comfortable rest of the wrist for steadying the hand against a surface, allowing for greater stability while performing delicate tasks.Mathematical model of the exoskeleton will be developed, and theoretical analysis will be performed. A control algorithm will be developed for the exoskeleton based on the finger and hand movement. Simulation studies will be performed using Matlab/Simulink and VREP and the algorithm will be implemented at the exoskeleton. The experiments will be conducted for various tasks to validate the capability of the exoskeleton and the performance of the control algorithm. The whole process can be repeated to improve the exoskeleton design and control of the exoskeleton.