This paper presents the development of a framework based on a quasi-statics concept for modeling and analyzing the physical human-robot interaction in soft robotic hand exoskeletons used for rehabilitation and human performance augmentation. This framework provides both forward and inverse quasi-static formulations for the interaction between a soft robotic digit and a human finger which can be used for the calculation of angular motions, interaction forces, actuation torques, and stiffness at human joints. This is achieved by decoupling the dynamics of the soft robotic digit and the human finger with similar interaction forces acting on both sides. The presented theoretical models were validated by a series of numerical simulations based on a finite element model which replicates similar human-robot interaction. The comparison of the results obtained for the angular motion, interaction forces, and the estimated stiffness at the joints indicates the accuracy and effectiveness of the quasi-static models for predicting the human-robot interaction.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5180-7
PROCEEDINGS PAPER
A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger
Mahdi Haghshenas-Jaryani,
Mahdi Haghshenas-Jaryani
University of Texas at Arlington Research Institute (UTARI), Fort Worth, TX
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Muthu B. J. Wijesundara
Muthu B. J. Wijesundara
University of Texas at Arlington Research Institute (UTARI), Fort Worth, TX
Search for other works by this author on:
Mahdi Haghshenas-Jaryani
University of Texas at Arlington Research Institute (UTARI), Fort Worth, TX
Muthu B. J. Wijesundara
University of Texas at Arlington Research Institute (UTARI), Fort Worth, TX
Paper No:
DETC2018-85629, V05AT07A061; 7 pages
Published Online:
November 2, 2018
Citation
Haghshenas-Jaryani, M, & Wijesundara, MBJ. "A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 42nd Mechanisms and Robotics Conference. Quebec City, Quebec, Canada. August 26–29, 2018. V05AT07A061. ASME. https://doi.org/10.1115/DETC2018-85629
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