Design Optimization of RML Glove for Improved Grasp Performance

This paper describes the design optimization of the RML Glove in order to improve its grasp performance. The existing design is limited to grasping objects of large diameter (> 110mm) due to its inability in attaining high bending angles. For an exoskeleton glove to be effective in its use as an assistive and rehabilitation device for Activities of Daily Living (ADL), it should be able to interact with objects over a wide range of sizes. Motivated by these limitations, the kinematics of the existing linkage mechanism was analyzed in detail and the design variables were identified. Two different cost functions were formulated and compared in their ability to yield optimal values for the design variables. The optimal set of design variables was chosen based on the grasp angles achieved and the resulting mechanism was simulated in CAD for feasibility testing. An exoskeleton mechanism corresponding to the index finger was manufactured with the chosen design variables and detailed experimental validation was performed to illustrate the improvement in grasp performance over the existing design. The paper ends with a summary of the experimental results and directions for future research.