Academic Journal
Finger Flexion and Extension Driven by a Single Motor in Robotic Glove Design
| العنوان: | Finger Flexion and Extension Driven by a Single Motor in Robotic Glove Design |
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| المؤلفون: | Hao Liu, Changchun Wu, Senyuan Lin, Yonghua Chen, Yong Hu, Tinghan Xu, Wenbo Yuan, Yunquan Li |
| المصدر: | Advanced Intelligent Systems, Vol 5, Iss 5, Pp n/a-n/a (2023) |
| بيانات النشر: | Wiley, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Computer engineering. Computer hardware |
| مصطلحات موضوعية: | pneumatic actuators, rehabilitation robotics, soft robot applications, wearable robotics, Computer engineering. Computer hardware, TK7885-7895, Control engineering systems. Automatic machinery (General), TJ212-225 |
| الوصف: | Pneumatic and tendon‐driven actuators are widely used in soft robotic glove design. Tendon‐driven robotic gloves are generally better in controllability, dexterity, and force output, but they are less comfortable than pneumatic ones. Most soft gloves focus on only one actuation mode where either motor‐driven tendon or pump‐driven pneumatic transmission is used. Herein, a double‐acting soft actuator (DASA) that provides both tendon‐driven flexion and pneumatic extension of fingers by a single motor is presented. This is achieved by a smart pulley and bellow system. The kinematic model of the tendon‐driven flexion and the torque model of the fabric‐based pneumatic extension actuator (FPEA) are developed to analyze the DASA performance. The bending angle of the index finger actuated by the tendon and the FPEA extension torque of a joint are characterized by experimental studies. A cycle test of the DASA is conducted 3000 times, demonstrating its high repeatability. A prototype soft glove (68 g) based on the proposed DASA with a control box (835 g) is fabricated to demonstrate finger flexion and extension assistance. Based on electromyography signals, the performance of the robotic glove is evaluated by a squeezing sponge test. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2640-4567 53102835 |
| Relation: | https://doaj.org/toc/2640-4567 |
| DOI: | 10.1002/aisy.202200274 |
| URL الوصول: | https://doaj.org/article/bab5f492c3184a88ad53102835d7d613 |
| رقم الانضمام: | edsdoj.bab5f492c3184a88ad53102835d7d613 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 26404567 53102835 |
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| DOI: | 10.1002/aisy.202200274 |