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首页> 外文会议>IEEE International Conference on Robotics and Automation >Thin and active fixture to hold finger for easy attachment and comfort of grasping support exoskeleton
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Thin and active fixture to hold finger for easy attachment and comfort of grasping support exoskeleton

机译：纤巧而活动的夹具可以握住手指，从而易于固定，并且可以轻松握住支撑外骨骼

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摘要

This paper proposes a new thin fixture that improves comfortableness and makes it easy for a user to wear a grasping support exoskeleton. Easiness of wear is one of important factors for the system performance improvement in addition to physical support functions of the system. The fixture consists of a C-shaped SMA wire and an air chamber. The SMA wire generates a holding force to fix the exoskeleton to a user's finger. The air chamber deforms the SMA wire to open its ends for attachment and detachment. This fixture reduces wearer's burden due to a lightweight, about 1[g], and no hindrance of a finger motion due to thin profile, 2[mm]. The fixture is evaluated through some experiments from the viewpoint of holding force, contact pressure, finger skin temperature, attaching time and detaching time. This fixture can maintain blood flow by changing the holding force that depends on pressure of compressed air. Time spent for donning and doffing a grasping force support system becomes 80 or more percent shorter than one of Velcro.
机译：本文提出了一种新的薄夹具，该薄夹具可提高舒适度并使用户易于佩戴抓握的支撑外骨骼。除系统的物理支持功能外，易磨损性是提高系统性能的重要因素之一。固定装置由C形SMA线和气室组成。 SMA线会产生将外骨骼固定到用户手指上的保持力。气室会使SMA线变形以打开其末端以进行连接和拆卸。该装置减轻了佩戴者的负担，这归因于重量轻（约1 [g]），并且不会因2 [mm]的薄型轮廓而妨碍手指运动。从保持力，接触压力，手指皮肤温度，附着时间和分离时间的角度通过一些实验对夹具进行评估。该固定装置可以通过改变取决于压缩空气压力的保持力来维持血液流动。穿戴和落下抓紧力支持系统所花费的时间比维可牢尼龙搭扣中的一个短80％或更多。

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