Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
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用于自然运动的无源多环可穿戴手部设备的开发和评估
DOI：
10.1115/1.4054168
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发表时间：
2023
期刊：
影响因子：
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通讯作者：
Song Soh, Gim
中科院分区：
文献类型：
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作者：
Robson, Nina;Yun Chen, Bin;Won, Jong-Seob;Song Soh, Gim
本文描述了我们的被动驱动闭环铰接可穿戴设备（CLAW）的开发和评估，该设备使用一个普通滑块来被动驱动其外指，用于手部活动受限的人的身体训练。我们的设计方法利用生理任务进行尺寸合成，并产生各种设计候选物，以满足所需的指尖精确抓取轨迹。一旦确保合成的指尖运动接近生理指尖抓取轨迹，就会考虑与用户-设备干扰和关节自然角度运动相关的性能评估标准。在为每个手指选择了最喜欢的设计之后，进行一些小的修改，将骨干链替换为佩戴者的肢体，为定制的被动装置提供骨骼结构。随后，我们基于一种新的候选设计评估方法对其进行自然关节运动评估。打印了一个手部原型，并对其在自然关节运动、可穿戴性和可扩展性方面的初步性能进行了评估。在一系列不同手/手指大小的健康受试者中进行的先导实验测试表明，CLAW手易于操作，可以引导使用者的手指，不会产生任何不适。它还确保了精度和力量的把握在自然的方式。本研究确立了在概念设计层面结合基于人类手指运动学模型的新型候选设计评估技术的重要性，该技术可以帮助寻找自然关节运动协调的候选设计。
This article describes the development and evaluation of our passively actuated closed-loop articulated wearable (CLAW) that uses a common slider to passively drive its exo-fingers for use in physical training of people with limited hand mobility. Our design approach utilizes physiological tasks for dimensional synthesis and yields a variety of design candidates that fulfill the desired fingertip precision grasping trajectory. Once it is ensured that the synthesized fingertip motion is close to the physiological fingertip grasping trajectories, performance assessment criteria related to user–device interference and natural joint angle movement are taken into account. After the most preferred design for each finger is chosen, minor modifications are made related to substituting the backbone chain with the wearer’s limb to provide the skeletal structure for the customized passive device. Subsequently, we evaluate it for natural joint motion based on a novel design candidate assessment method. A hand prototype is printed, and its preliminary performance regarding natural joint motion, wearability, and scalability are assessed. The pilot experimental test on a range of healthy subjects with different hand/finger sizes shows that the CLAW hand is easy to operate and guides the user’s fingers without causing any discomfort. It also ensures both precision and power grasping in a natural manner. This study establishes the importance of incorporating novel design candidate assessment techniques, based on human finger kinematic models, on a conceptual design level that can assist in finding design candidates for natural joint motion coordination.