A NOVEL DESIGN OF A ROBOTIC GLOVE SYSTEM FOR PATIENTS WITH BRACHIAL PLEXUS INJURIES.
A NOVEL DESIGN OF A ROBOTIC GLOVE SYSTEM FOR PATIENTS WITH BRACHIAL PLEXUS INJURIES.
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DOI：
10.1115/detc2020-22348
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发表时间：
2020-08-01
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;Pradhan, Sarthak;Ben-Tzvi, Pinhas
本文提出了一种外骨骼手套系统的设计，谁的人患有臂丛神经损伤，努力恢复他们失去的抓握功能。机器人系统由嵌入式控制器和便携式手套系统组成。手套系统由线性系列弹性致动器（SEA），旋转SEA和优化的手指连杆，以提供运动到每个手指和手和手腕的耦合运动。该设计基于各种功能要求，例如重量轻，便于日常生活活动，特别是抓握。每个指尖的接触力和每个手指的弯曲角度进行测量，为将来实现自主抓取的智能控制算法。为了给使用者提供更好的灵活性和舒适性，设计中考虑了每个手指的外展和内收以及拇指的屈曲。手套系统可根据不同的手尺寸进行调整。微控制器和电池集成在前臂上，以提供完全便携的设计解决方案。
This paper presents the design of an exoskeleton glove system for people who suffer from the brachial plexus injuries in an effort to restore their lost grasping functionality. The robotic system consists of an embedded controller and a portable glove system. The glove system consists of Linear Series Elastic Actuators (SEA), Rotary SEA and optimized finger linkages to provide motion to each finger and a coupled motion of the hand and the wrist. The design is based on various functionality requirements such as being lightweight and portable for activities of daily living, especially for grasping. The contact force at each fingertip and bending angle of each finger are measured for future implementation of intelligent control algorithms for autonomous grasping. To provide better flexibility and comfort for the users, abduction and adduction of each finger as well as flexion of the thumb were taken into consideration in the design. The glove system is adjustable for different hand sizes. The micro-controllers and batteries are integrated on the forearm in order to provide a completely portable design solution.