State-of-the-Art of Hand Exoskeleton Systems
State-of-the-Art of Hand Exoskeleton Systems
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最先进的手部外骨骼系统
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
V. P. Castelli
中科院分区：
文献类型：
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作者：
Mohammad Mozaffari Foumashi;M. Troncossi;V. P. Castelli
本文论述了最先进的机器人手外骨骼的分析（2011年5月更新），这是设计活动的第一步。文献中报道了大量具有一些共同特征和许多特殊特性的手外骨骼（产品和原型）。事实上，尽管功能非常相似，但不同的手外骨骼在其机构架构、控制系统和工作原理的特性方面可能极其不同。本文的目的是为读者提供一个完整的和示意图的国家的最先进的手外骨骼。重点放在描述的主要方面，涉及外骨骼的设计，如系统的运动学，致动器系统，传动部件和控制方案。此外，文献分析提供的关键问题进行了讨论，以启发不同的实际解决方案的差异和共同特点。本文可能有助于理解为什么某些解决方案被提出用于不同的应用和文献中提出的不同设计的优点和缺点的原因。这项研究的动机是需要设计一种新的手外骨骼康复的目的。
This paper deals with the analysis of the state-of-the-art of robotic hand exoskeletons (updated at May 2011), which is intended as the first step of a designing activity. A large number of hand exoskeletons (both products and prototypes) that feature some common characteristics and many special peculiarities are reported in the literature. Indeed, in spite of very similar functionalities, different hand exoskeletons can be extremely different for the characteristics of their mechanism architectures, control systems and working principles. The aim of this paper is to provide the reader with a complete and schematic picture of the state-of-the-art of hand exoskeletons. The focus is placed on the description of the main aspects that are involved in the exoskeleton design such as the system kinematics, the actuator systems, the transmission parts and the control schemes. Additionally, the critical issues provided by the literature analysis are discussed in order to enlighten the differences and the common features of different practical solutions. This paper may help to understand both the reasons why certain solutions are proposed for the different applications and the advantages and drawbacks of the different designs proposed in the literature. The motivation of this study is the need to design a new hand exoskeleton for rehabilitation purposes.