NDLI: Mechanism and kinematic analysis of a robotic gadget for assisting hand movements of persons with severe disabilities to promote their community participation

Content Provider	IEEE Xplore Digital Library
Author	Seungmin Jung Kwang-ok An Jongbae Kim Hyungsik Kim
Copyright Year	2014
Description	Author affiliation: Dept. of Occupational Therapy, Yonsei Univ., Seoul, South Korea (Jongbae Kim) \|\| Translational Res. Center for Rehabilitation Robots, Korea Nat. Rehabilitation Center, Seoul, South Korea (Seungmin Jung; Kwang-ok An; Hyungsik Kim)
Abstract	Hand movements such as those necessary to use smart devices or credit cards are vital to modern-day daily life, both for able-bodied people and those with disabilities. Therefore, we have developed a robotic gadget for assisting people with severe disabilities by supporting the hand movements needed for everyday life and social activities, and thus promote those persons' participation in the community. To select the optimal services to be provided, we implemented focus-group interviews, targeting people with spinal cord injuries above the C4 vertebrae. Based on the extracted optimal services, we developed a robotic gadget to assist with a wide range of hand movements. The robotic gadget consists of a complex work module (offering three degrees of freedom) to assist with a range of hand movements, and a robotic arm (also with three degrees of freedom) to move the complex work module. The robotic arm incorporates a “tendon mechanism” whereby wires are used to minimize the size of the robotic arm joint. A parallel link mechanism automatically controls the position of the complex work module so that the smart device always faces the user regardless of the rotation of the robotic arm. The use of the parallel link mechanism also reduces the number of actuators required to keep the complex work module facing the user. The complex work module incorporates a card holder, which can load and eject up to four cards, and uses micro piezo motors to minimize its size. By implementing kinematic analysis, we calculated the position and orientation of an end-effector that can determine the space in which the complex work module operates. In this study, we verified the performance of the robotic gadget by building a prototype. The robotic gadget for supporting hand movements can be installed on a wheelchair or within the user's range of activity, and is expected to help severely disabled people as it improves their access to smart devices, assists them with the hand movements needed to partake in social activities, increases their interactions with able-bodied people, and promotes their participation in the community.
Starting Page	1594
Ending Page	1599
File Size	1913125
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987827
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Robotic arm Tendon mechanism Robotic gadget Joints Parallel link mechanism Robots Hand movement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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