Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot
Abstract
:1. Introduction
- Analyzing the physiological structure of the fingers and the action of striking piano keys to determine the auxiliary movement form of the exoskeleton structure.
- Designing an exoskeleton structure that meets the movement requirements based on the characteristics of finger striking piano keys.
- Conducting simulation analysis of the motion space and transient dynamics of the exoskeleton robot.
- Constructing a prototype of the exoskeleton robot and conducting experimental validation.
2. Methods
2.1. Analysis of Finger Tapping on Piano Keys
2.1.1. Analysis of Basic Playing Finger Patterns
2.1.2. Analysis of the Motion of Knocking Qin Keys
Sports Data Collection Methods
Finger Joint Angle Collection Experiment
Analysis of the Motion Trajectory of Knocking Qin Keys
Finger Joint Angle Collection Experiment
2.2. Exoskeleton Mechanism Design
2.2.1. Configuration Selection
2.2.2. Mechanism Design
2.2.3. Exoskeleton Configuration Design
3. Results
3.1. Analysis of Exoskeleton Mechanism
3.1.1. Workspace of the Exoskeleton Mechanism
3.1.2. Transient Dynamic Finite Element Analysis
4. Discussion
4.1. Prototype Construction and Experimental Verification
4.1.1. Prototype Construction
4.1.2. Workplace Validation
4.1.3. Joint Angle and Angular Velocity Analysis
5. Conclusions
- (1)
- By analyzing finger tapping actions and based on the fundamental finger techniques in piano playing, the characteristics of finger playing movements were determined for all fingers except the thumb. Further, using joint angle sensors, data on the joint angles of the fingers during playing movements were collected. A quantitative analysis of the characteristics of playing movements was conducted, obtaining the trajectory and angular velocity of striking the piano keys, and clarifying the design requirements for the exoskeleton to maintain vertical striking in the distal phalanx.
- (2)
- Based on the requirements of the exoskeleton design, a 6-bar double-closed-loop mechanism with an equivalent end sliding pair was selected. The design of the linkage mechanism was carried out using an analytical approach. Then, the mathematical relationship between the linear motor extension and the rotation angle of the input rod was established through geometric analysis. Combined with the physiological dimensions of the finger and wearable requirements, the design of the exoskeleton structure was completed.
- (3)
- After establishing the 3D model of the exoskeleton mechanism, simulation analyses were conducted on its workspace and transient dynamics. The results indicated that the theoretical workspace and structural strength of the exoskeleton could meet the requirements of the striking action. The construction of the experimental prototype further verified that the exoskeleton could enhance the stability of finger striking movements, simulate the natural speed of finger tapping, and, while regulating and correcting playing movements, ensure comfort and safety. This demonstrated the rationality and effectiveness of the exoskeleton structure design.
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
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Maximum Stress/MPa | Maximum Strain/mm/mm | Maximum Allowable Stress/MPa | Maximum Allowable Strain/mm/mm | |
---|---|---|---|---|
Exoskeleton linkage | 11.9 | 0.007 | 24.5 | 0.025 |
MCP Joint End | PIP Joint End | DIP Joint End | |
---|---|---|---|
Before wearing | 0.5207 | 0.6413 | 0.7981 |
After wearing | 0.4183 | 0.5201 | 0.5361 |
MCP Joint | PIP Joint | DIP Joint | |
---|---|---|---|
Joint Angles | 0.2011 | 0.1537 | 0.1085 |
Joint Angular Velocity | 0.2335 | 0.2367 | 0.1902 |
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Xu, Q.; Yang, D.; Li, M.; Ren, X.; Yuan, X.; Tang, L.; Wang, X.; Liu, S.; Yang, M.; Liu, Y.; et al. Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot. Biomimetics 2024, 9, 385. https://doi.org/10.3390/biomimetics9070385
Xu Q, Yang D, Li M, Ren X, Yuan X, Tang L, Wang X, Liu S, Yang M, Liu Y, et al. Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot. Biomimetics. 2024; 9(7):385. https://doi.org/10.3390/biomimetics9070385
Chicago/Turabian StyleXu, Qiujian, Dan Yang, Meihui Li, Xiubo Ren, Xinran Yuan, Lijun Tang, Xiaoyu Wang, Siqi Liu, Miaomiao Yang, Yintong Liu, and et al. 2024. "Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot" Biomimetics 9, no. 7: 385. https://doi.org/10.3390/biomimetics9070385
APA StyleXu, Q., Yang, D., Li, M., Ren, X., Yuan, X., Tang, L., Wang, X., Liu, S., Yang, M., Liu, Y., & Yang, M. (2024). Design and Verification of Piano Playing Assisted Hand Exoskeleton Robot. Biomimetics, 9(7), 385. https://doi.org/10.3390/biomimetics9070385