Hand and Wrist Exoskeleton for Delicate, Repetitive Tasks

这项研究旨在设计和开发一种新型的手和手腕外骨骼，它可以降低RSI重复劳损的风险，使用户能够安全而准确地进行重复的、精细的任务。该项目的目标如下：回顾相关文献。设计和开发一种新型的手和手腕外骨骼。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。进行各种任务的实验。本项目开始时将进行文献综述，其中将对手指外骨骼的最新技术进行综述。我们还将回顾有关RSI重复性劳损、腕管和机械预防措施的文献，收集的数据将成为设计完整的手和腕外骨骼的基础。手和腕外骨骼将使用SolidWorks等三维CAD软件进行设计，考虑到从文献中收集的所有设计要求和约束，并与利益相关者进行咨询。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。用于数据采集和反馈控制的传感器很少，例如加速计、霍尔传感器、力传感器、压力传感器和挠性传感器。手-手指外骨骼的机构将使用电缆连接进行力传递，因为它更精细、更轻，而其他机械连接方法通常很笨重，需要精细的控制(Li等人，2020)。手腕机构将是被动的，旨在不限制所有手腕自由度，即前屈、后伸、外展和内收。它将提供手腕的舒适休息，使手靠在表面上保持稳定，从而在执行精细任务时获得更大的稳定性。外骨骼的数学模型将被开发出来，并将进行理论分析。开发了一种基于手指和手运动的外骨骼控制算法。使用MatLab/Simulink和vRep进行仿真研究，算法将在外骨骼上实现。将针对不同的任务进行实验，以验证外骨骼的性能和控制算法的性能。整个过程可以重复进行，以改进外骨骼的设计和控制。

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.