Exo-Glove Poly III: Grasp Assistance by Modulating Thumb and Finger Motion Sequence with a Single Actuator

拇指 抓住 运动(物理) 执行机构 机械手 序列(生物学) 计算机科学 软机器人 夹持器 人工智能 工程类 机械工程 解剖 医学 化学 程序设计语言 生物化学
作者
Kyu Bum Kim,Hyung‐Min Choi,Byungchul Kim,Brian Byunghyun Kang,Sangheui Cheon,Kyu‐Jin Cho
出处
期刊:Soft robotics [Mary Ann Liebert]
标识
DOI:10.1089/soro.2024.0113
摘要

In daily living, people grasp an object through the steps of "pre-shaping" and "enclosing," with the thumb playing a crucial role with its multiple degrees of freedom. When assisting individuals with hand impairments using soft wearable robots, it is important to simplify the robot by reducing the number of actuators and to provide different grasping strategies based on various objects being handled. In this article, we propose a tendon-driven soft wearable hand robot, Exo-Glove Poly III, that uses a single actuator for assisting two types of grasping strategies for people with hand impairment. To move the thumb and other fingers with a single actuator, we developed a slack-based sequential mechanism that allows movements to occur at different timings by varying the initial slack lengths of each tendon. Based on our observations of grasping strategies and the proposed novel actuation system, a slack-based sequential actuator (318 g, including electronic circuits) was designed and integrated with the glove (90 g) using a commercial armband to make the system portable. The robotic system was evaluated by a healthy subject, showing how the thumb moves by the tendon routings and how the mechanism works for each grasping strategy.

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