Design of prototype of a finger exoskeleton for interaction with virtual reality

Project Title

Design of prototype of a finger exoskeleton for interaction with virtual reality

Project Area of Specialization Augmented and Virtual RealityProject Summary

Haptic devices are emerging as effective interaction aids for improving the realism of virtual worlds. Now a days the use of haptics has been increased in teleoperation, rehabilitation and virtual gaming.

 Keeping in view the current importance of haptics, CAE has started a research initiative towards development of haptic finger. We are going to develop a haptic finger exoskeleton which will be capable of differentiating between hard and soft objects and covering the whole range of motion of the human finger. It will be a handy device as the whole assembly will be worn on the arm making the movements of exoskeleton fully independent. The exoskeleton can be utilized in medical devices as well as for training devices.

Project Objectives

The objective of haptic finger exoskeleton is to design a fully operational and independent haptic device which will be light in weight as it has to be worn and also it will cover full range of motion of human finger. Furthermore, it will not impose any restrictions on the natural movements of human arm or hand.

Project Implementation Method

First of all CAD model on solidworks is designed keeping in view the ranges of motion of different joints of finger, followed by the kinematic analysis of the model. Then design of springs is done by keeping in view the ranges of motion and torque requirements. Then motors are selected on the basis of their torque power. Finally feedback control system will be implemented on the microcontroller. 

Benefits of the Project

The designed haptic finger exoskeleton will be fully independent as the entire assembly will be worn on arm. Hence, it will not impose any restruictions on the natural motions of human arm or hand.

The designed exoskeleton can be used for teleoperation as well as for rehabilitaion purposes.

Technical Details of Final Deliverable

CAD model is designed on Solidworks and kinematic analysis is done in time domain and results are tested in simscape.

Motors and springs are selected and designed by keeping in view the torque requirements and ranges of motion of different joints of finger.

Feedback control system is implemented on raspberry-pie microcontroller and finally the results are tested by programming different objects in the microcontroller.

Final Deliverable of the Project HW/SW integrated systemType of Industry Medical , Security Technologies Augmented & Virtual RealitySustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	77100
Maxon motor	Equipment	2	20000	40000
Encoders	Equipment	3	10000	30000
Raspberry-pie	Miscellaneous	1	5300	5300
Straps	Miscellaneous	8	100	800
Pulleys	Miscellaneous	2	500	1000