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Preliminary Design of a Compact Robotic Finger with Continuously Variable Active Transmission |
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Sung Ho Chung, Eugene Sohn, Seokhwan Jeong(Sogang University, Korea) |
| This paper suggests a novel compact and continuously variable transmission based on a 4-bar linkage mechanism. By actively adjusting the length of a link within the 4-bar linkage mechanism, the input-output transmission ratio of the system can be continuously changed. Notably, the proposed design introduces a unique mechanism for operating the crank arm slider through a flexible drive shaft, enabling a tightly packaged layout within the confines of a single robotic finger. To validate the design, a 3D-printed prototype of the finger and a corresponding test setup were fabricated, laying the groundwork for future experiments. |
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Twisted String Actuator Mechanism with Adjustable Offset of Strings for Extension of Stiffness Range |
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Dongcheol Shin(Hanyang University, Korea), Brian Byunghyun Kang(Sejong University, Korea), Wansoo Kim(Hanyang University, Korea) |
| Propose of a novel Twisted String Actuator (TSA) with extended variable stiffness through variation of offset between strings.
A new analytical TSA model for the proposed device.
Evaluate analytical models via Normalized Root Mean Square Error
(NRMSE) and Nominal Range Sensitivity Analysis (NRSA)
Through the experiment of offset modification, the stiffness range of the proposed TSA device could be increased by up to 17%.
The device has promising potential for usage in exosuits. |
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Development of Vision Based Feature Extracted Grasping Intention Detection Model for Wearable Robotic Hand |
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Guyeol Jeong, Kyujin Cho, Kyu Bum Kim(Seoul National University, Korea) |
| The key to effectively assist spinal cord injury (SCI) with wearable robotic hands lies in discerning the user's intent to grasp objects. Unfortunately, current intention detection methods are incapable of being used as a portable device. The aim of this study is to present an object detection and LSTM based hand related intention detection method, specifically designed for situations involving multiple objects. This algorithm is suited for portable robotic hands, making it a viable solution to effectively assist SCI patients in performing activities of daily living (ADL). |
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Enhancing Walking Ability in Hemiparetic Patients: A Modular Soft Exosuit for Ankle Dorsiflexion |
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Gayoung Yang, Sangyun Hwang, Brian Byunghyun Kang(Sejong University, Korea) |
| A modular soft exosuit assists gait and sit-to-stand motions of hemiparetic patients.
The objective is to provide assistance to paretic ankle dorsiflexion.
Tendon path mechanism transmit force with high efficiency by considering the distance from human body and cable.
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Learning-based Object Size Estimation for Soft Wearable Robot Glove |
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Seungwon Yang, Youchan Choi, Daeun Kim, Brian Byunghyun Kang(Sejong University, Korea) |
| When a patient with impaired hand function grasps an object using a soft wearable robot hand, a study was conducted to use artificial intelligence to predict the size of the object being grasped without attaching additional sensors to the robot's wearing part. |
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Soft Wearable Robot for Hallux Valgus Rehabilitation |
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HyeJu Yoo, Kyujin Cho(Seoul National University, Korea) |
| Hallux valgus, an outwards deformation of the first metatarsal bone and the metatarsal phalangeal joint, is a foot-related disorder affecting 2~3% of the population. This foot deformation can be classified from mild to severe in four different stages, and as the deformation gets worse, the quality of living decreases with increased pain. Hallux valgus is also progressive, meaning the deformation becomes worse over time, and thus, it is essential to start treating it from the early stages. In this paper, a robotic approach is taken to tackle the issue of bringing foot-based exercise into daily life, by designing a soft wearable robot for Hallux valgus that can be worn inside shoes. |
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