Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries.
Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries.
复制标题
针对臂丛神经损伤患者的新型便携式触觉机器人外骨骼手套系统的开发和实验评估。
DOI：
10.1109/iros47612.2022.9981468
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Ben-Tzvi,Pinhas
中科院分区：
文献类型：
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作者：
Xu,Wenda;Guo,Yunfei;Bravo,Cesar;Ben-Tzvi,Pinhas
本文介绍了便携式触觉外骨骼手套系统的开发和实验评估，该系统专为臂丛神经损伤的人设计，以恢复他们失去的抓握功能。该手套系统包括力感知、连杆驱动手指机构和个性化语音控制，以实现各种抓取功能要求。完全集成的系统为我们的可穿戴设备提供了轻便，便携和舒适的特性，用于在日常活动中抓取物体。刚性铰接联动装置由系列弹性致动器（SEA）驱动，指尖上带有滑动检测功能，可为多个物体提供稳定可靠的抓持。每个手指的被动外展-内收运动也被认为是为用户提供更好的抓握灵活性。具有生物认证的连续语音控制还提供了免提用户界面。不同对象的实验验证了所提出的外骨骼手套系统在日常生活活动（ADL）中使用的各种形状和重量的抓取对象的功能和能力。
This paper presents the development and experimental evaluation of a portable haptic exoskeleton glove system designed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The proposed glove system involves force perception, linkage-driven finger mechanism, and personalized voice control to achieve various grasping functionality requirements. The fully integrated system provides our wearable device with lightweight, portable, and comfortable characterization for grasping objects used in daily activities. Rigid articulated linkages powered by Series Elastic Actuators (SEAs) with slip detection on the fingertips provide stable and robust grasp for multiple objects. The passive abduction-adduction motion of each finger is also considered to provide better grasping flexibility for the user. The continuous voice control with bio-authentication also provides a hands-free user interface. The experiments with different objects verify the functionalities and capabilities of the proposed exoskeleton glove system in grasping objects with various shapes and weights used in activities of daily living (ADLs).