5 The development of such a project calls for expertise in various fields of automation technology. Mechatronics and generative manufacturing technologies are playing an important role in the realisation of the ExoHand. Mechatronics: uniting several technologies Mechatronics, a core competence of Festo, combines the traditional disciplines of mechanical, electrical and computer engineering; the objectives are to improve the functionality of technical systems and gain new insights into various aspects of human-machine cooperation. The software used allows functional integration within the system and thus paves the way for intelligent human-machine interaction. Tailor-made: generative manufacturing for a perfect fit The ExoHand, which is customised to fit the hand of the individual user, is manufactured from polyamide in the selective laser sintering (SLS) process. For this purpose, the exoskeleton is produced on the basis of a 3D scan of the user’s hand. Pneumatics: movement through almost all degrees of freedom The eight double-acting pneumatic actuators – DFK-10 cylinders from Festo – that are attached to the structure of the exoskeleton allow the wearer to open and close the fingers of the orthosis with utmost precision. The index finger can also be pivoted to either side, and the thumb can be rotated towards the palm just like its human model. Precise position detection and efficient use of compressed air Linear potentiometers register both the positions of the fingers and the force applied by each individual drive unit. The corresponding pressure in the various chambers is regulated by means of piezo proportional valves. Pressure sensors on the valve terminal serve to regulate the pressure and give an indication of the forces exerted by the cylinder. Precise positional control with CoDeSys A CoDeSys-compliant controller registers and processes the positional and force parameters. It regulates the pressures in the cylinders, in order to ensure the correct finger positions and forces. Non-linear control algorithms are used for this purpose. A driving force of innovation: creative solutions for new markets Festo supplies both components and know-how: with this broad basis of expertise in technology and research, Festo enables its customers to develop systems and robots that can play an important role in human-machine cooperation. This involves the questions of how humans and machines can interact more efficiently in view of the extended possibilities of state-of-the-art technologies, and what demands production must meet in the future. For this purpose, systems and environments such as the ExoHand are created which extend the human operator’s scope of action by active support to meet specific requirements. Festo can draw on the insights that have been gained in this field with the Bionic Handling Assistant. The ExoHand: combining diverse components and technologies DFK-10 cylinder Double-acting cylinder with integrated mounting flange and connection VPWP proportional directional control valve With external position controller and position sensor system for precise pneumatic positioning CoDeSys control MPA-L compact valve terminal with integrated CPX-CEC control and I/O modules
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