Exo-Glove A Wearable Robot for the Hand with a Soft Tendon Routing System
Exo-Glove A Wearable Robot for the Hand with a Soft Tendon Routing System
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DOI：
10.1109/mra.2014.2362863
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发表时间：
2015-03-01
影响因子：
5.7
通讯作者：
Cho, Kyu-Jin
中科院分区：
文献类型：
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作者：
In, Hyunki;Kang, Brian Byunghyun;Cho, Kyu-Jin
软可穿戴机器人是刚性外骨骼的良好替代品，因为它们结构紧凑、重量轻。本文描述了一种名为Exo-Glove的软可穿戴手部机器人，它使用了软腱路径系统和欠驱动自适应机制。该系统还可用于开发其他类型的软可穿戴机器人。该系统的手套部分紧凑，重量为194 g。使用健康受试者进行的测试结果表明，该系统具有足够的性能来执行日常生活活动，即夹紧力为20N，包裹抓取力为40N，最大抓取对象尺寸为76 mm。欠驱动机构的使用使得能够在没有主动控制的情况下抓取各种形状的物体。一名因脊髓损伤而导致手部瘫痪的受试者能够使用手套抓住各种形状的物体。
Soft wearable robots are good alternatives to rigid-frame exoskeletons because they are compact and lightweight. This article describes a soft wearable hand robot called the Exo-Glove that uses a soft tendon routing system and an underactuation adaptive mechanism. The proposed system can be used to develop other types of soft wearable robots. The glove part of the system is compact and weighs 194 g. The results conducted using a healthy subject showed sufficient performance for the execution of daily life activities, namely a pinch force of 20 N, a wrap grasp force of 40 N, and a maximum grasped object size of 76 mm. The use of an underactuation mechanism enabled the grasping of objects of various shapes without active control. A subject suffering from paralysis of the hands due to a spinal cord injury was able to use the glove to grasp objects of various shapes.