Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living
Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living
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DOI：
10.1109/tmech.2016.2641932
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发表时间：
2017-04-01
影响因子：
6.4
通讯作者：
Ryu, Jee-Hwan
中科院分区：
文献类型：
--
作者：
Popov, Dmitry;Gaponov, Igor;Ryu, Jee-Hwan
本文提出了一种新的便携式外骨骼手套开发的日常生活活动（ADL）的援助。所提出的手套是柔软的、可调节的，允许手腕的不受约束的运动，并且使手掌自由地用于物体抓取和操纵。在所提出的设计中，拇指和三个手指（不包括小指）的屈曲和伸展运动都由相应的双向致动器支持。该装置的运动学推导，并提出了沿着与实验评价。所开发的手套系统结构紧凑、重量轻，可穿戴部分和整个系统的重量分别为250和340 g。通过实验测量该装置提供的最大夹持力为16 N，这使得所提出的装置在现有的用于手ADL辅助的便携式装置中具有最高的功率重量比。在一系列室内和室外试验中验证了所开发装置的可用性。手套允许测试对象持有和操纵直径高达90毫米，重量为300克的多功能物体。当由传统的3000 mAh电池供电时，手套可以连续操作执行抓取任务4 h。
This paper presents a new portable exoskeleton glove developed for assistance in activities of daily living ( ADL). The proposed glove is soft, adjustable, allows unconstrained motion of the wrist, and leaves the palm free for object grasping and manipulation. In the proposed design, both flexion and extension motions of the thumb and three fingers ( excluding the little finger) are supported by respective bidirectional actuators. The kinematics of the device were derived and are presented along with an experimental evaluation. The developed glove system is compact and light, with the weights of the wearable part and the whole system being 250 and 340 g, respectively. The maximum pinch force provided by the device was experimentally measured to be 16 N, which gives the proposed device one of the highest power-to-weight ratio among existing portable devices for hand ADL assistance. The usability of the developed device was verified in a series of indoor and outdoor tests. The glove allowed test subjects to hold and manipulate versatile objects with diameters up to 90 mm and weighing 300 g. When powered by a conventional 3000-mAh battery, the glove could operate continuously performing grasping task for 4 h.