Design and control of a wearable and force-controllable hand exoskeleton system
Design and control of a wearable and force-controllable hand exoskeleton system
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DOI：
10.1016/j.mechatronics.2016.12.001
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发表时间：
2017-02-01
期刊：
影响因子：
3.3
通讯作者：
Bae, Joonbum
中科院分区：
文献类型：
--
作者：
Jo, Inseong;Bae, Joonbum
提出了一种可穿戴、力可控的手外骨骼系统。为了在指尖施加力反馈的同时允许手指自然运动，受手指肌肉骨骼结构的启发，设计了三自由度外骨骼连接结构。通过与日常生活活动所需的功能活动范围（ROM）进行比较，验证了所提出的连杆结构的运动学性能。采用由小型直线电机、手动设计的电机驱动器、弹簧和电位器组成的串联弹性致动器（SEA）机构作为致动系统。对电机的摩擦进行辨识和补偿，得到驱动系统的线性化模型。采用线性二次（LQ）调谐比例导数（PD）控制器和干扰观测器（DOB），所提出的执行器模块即使在任意手指运动时也能准确地产生所需的力。通过仿真和实验验证了连杆结构的传力性能。将所提出的外骨骼结构、致动器模块和控制算法集成为一个可穿戴的力可控手外骨骼系统，该系统可以向指尖传递力以进行屈伸运动。(C) 2016 Elsevier Ltd.版权所有。
In this paper, a wearable and force-controllable hand exoskeleton system is proposed. In order to apply force feedback to the fingertip while allowing natural finger motions, the exoskeleton linkage structure with three degrees of freedom (DOFs) was designed, which was inspired by the muscular skeletal structure of the finger. Kinematic performance of the proposed linkage structure was verified by comparing with functional range of motion (ROM) which is required for activities in daily living. As an actuating system, a series elastic actuator (SEA) mechanism, which consisted of a small linear motor, a manually designed motor driver, a spring and potentiometers, was applied. Friction of the motor was identified and compensated to obtain a linearized model of the actuating system. Using a linear quadratic (LQ) tuned proportional-derivative (PD) controller and a disturbance observer (DOB), the proposed actuator module could generate the desired force accurately even with arbitrary finger movement. The performance of force transmission through linkage structure was verified by simulation and experiments. The proposed exoskeleton structure, actuator modules and control algorithms were integrated as a wearable and force-controllable hand exoskeleton system that could deliver force to the fingertips for flexion/extension motions. (C) 2016 Elsevier Ltd. All rights reserved.