Wearable Robotic Glove Design Using Surface-Mounted Actuators
We propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints....
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Frontiers Media S.A.
2020-09-01
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Online Access: | https://www.frontiersin.org/article/10.3389/fbioe.2020.548947/full |
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doaj-95c3f5de790d499ca7e5ea264deef4e92020-11-25T03:13:18ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852020-09-01810.3389/fbioe.2020.548947548947Wearable Robotic Glove Design Using Surface-Mounted ActuatorsJaeyoung Park0Inchan Hwang1Woochan Lee2Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South KoreaDepartment of Mechanical Engineering, Seoul National University, Seoul, South KoreaDepartment of Electrical Engineering, Incheon National University, Incheon, South KoreaWe propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. Multiple tendons woven on the exo-glove's surface can make multi-DOF finger joint motions. We allocated tendons to mimic a hand's intrinsic and extrinsic muscles. Thus, a robotic hand actuated with the exo-glove can perform natural finger motions, including abduction/adduction and flexion/extension of finger joints. Moreover, additional tendons for the thumb enable power grips and the robotic hand's human-like motion. The proposed design approach places all the actuators on the surface without directly actuating any of the hand skeleton's joint. Therefore, a random hand skeleton can work as a robotic hand by putting the wearable robotic glove on it. Thus, the proposed model provides a high degree of freedom on choosing hand skeletons. We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove.https://www.frontiersin.org/article/10.3389/fbioe.2020.548947/fullrobotic handsoft roboticsbiomimeticsurface-mounted actuatoranthropomorphic hand |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jaeyoung Park Inchan Hwang Woochan Lee |
spellingShingle |
Jaeyoung Park Inchan Hwang Woochan Lee Wearable Robotic Glove Design Using Surface-Mounted Actuators Frontiers in Bioengineering and Biotechnology robotic hand soft robotics biomimetic surface-mounted actuator anthropomorphic hand |
author_facet |
Jaeyoung Park Inchan Hwang Woochan Lee |
author_sort |
Jaeyoung Park |
title |
Wearable Robotic Glove Design Using Surface-Mounted Actuators |
title_short |
Wearable Robotic Glove Design Using Surface-Mounted Actuators |
title_full |
Wearable Robotic Glove Design Using Surface-Mounted Actuators |
title_fullStr |
Wearable Robotic Glove Design Using Surface-Mounted Actuators |
title_full_unstemmed |
Wearable Robotic Glove Design Using Surface-Mounted Actuators |
title_sort |
wearable robotic glove design using surface-mounted actuators |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Bioengineering and Biotechnology |
issn |
2296-4185 |
publishDate |
2020-09-01 |
description |
We propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. Multiple tendons woven on the exo-glove's surface can make multi-DOF finger joint motions. We allocated tendons to mimic a hand's intrinsic and extrinsic muscles. Thus, a robotic hand actuated with the exo-glove can perform natural finger motions, including abduction/adduction and flexion/extension of finger joints. Moreover, additional tendons for the thumb enable power grips and the robotic hand's human-like motion. The proposed design approach places all the actuators on the surface without directly actuating any of the hand skeleton's joint. Therefore, a random hand skeleton can work as a robotic hand by putting the wearable robotic glove on it. Thus, the proposed model provides a high degree of freedom on choosing hand skeletons. We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove. |
topic |
robotic hand soft robotics biomimetic surface-mounted actuator anthropomorphic hand |
url |
https://www.frontiersin.org/article/10.3389/fbioe.2020.548947/full |
work_keys_str_mv |
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1724647510084943872 |