HEXOSYS II - towards realization of light mass robotics for the hand
HEXOSYS II - towards realization of light mass robotics for the hand
复制标题
HEXOSYS II - 致力于实现轻质手部机器人
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Ahsan Malik
中科院分区：
文献类型：
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作者：
J. Iqbal;O. Ahmad;Ahsan Malik
本研究提出了一种直接驱动的，优化的和轻质量的手外骨骼的原型，其被设计为适合在手背侧，从而保持手掌自由与真实的/虚拟对象的交互。建议的手EXOskeleton SYStem（HEXO）TT的链接长度已被选定的优化算法的基础上。在试图使设计人手兼容，HEXOTONIX II的致动器已被选定为一系列的实验结果，人手的各种大小。该系统基于一个最佳的欠驱动机构，提供了3自由度/手指。外骨骼的合成运动允许穿戴者执行屈曲/外展以及被动外展/内收。简单的和欠驱动的机制，加上紧凑的机械设计，导致实现轻质量的机器人系统。第一个HEXO II原型已经制造完成。该系统由四根手指组成，足以完成我们的大部分日常生活活动，重量为600克。
This research presents a prototype of a direct-driven, optimized and light-mass hand exoskeleton that is designed to fit over the dorsal side of the hand, thus retaining palm free for interaction with real/virtual objects. The link lengths of the proposed Hand EXOskeleton SYStem (HEXOSYS) TT have been selected based on an optimization algorithm. In an attempt to make the design human hand compatible, the actuators of HEXOSYS II have been chosen as a result of series of experiments on human hands of various sizes. The system based on an optimum under-actuated mechanism provides 3 DOF/finger. The resultant motion of the exoskeleton allows the wearer to perform flexion/abduction as well as passive abduction/adduction. Simple and under-actuated mechanisms together with compact mechanical design lead to realize a light mass robotic system. The first prototype of HEXOSYS II has been fabricated. Comprising of four fingers, which are enough to accomplish most of our daily life activities, the system weighs 600 grams.