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首页> 外文期刊>Journal of Computing and Information Science in Engineering >Integrating A Grasp Exoskeleton Into A String-based Interface For Human-scale Interactions
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Integrating A Grasp Exoskeleton Into A String-based Interface For Human-scale Interactions

机译：将可抓握的外骨骼集成到基于字符串的接口中，以进行人机交互

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A grasp exoskeleton actuated by a string-based platform is proposed to provide the force feedback for a user's hand in human-scale virtual environments. The user of this interface accedes to seven active degrees of freedom in interaction with virtual objects, which comprises three degrees of translation, three degrees of rotation, and one degree of grasping. The exoskeleton has a light and ergonomic structure and provides the grasp gesture for five fingers. The actuation of the exoskeleton is performed by eight strings that are the parallel arms of the platform. Each string is connected to a block of motor, rotary encoder, and force sensor with a novel design to create the necessary force and precision for the interface. A hybrid control method based on the string's tension measured by the force sensor is developed to resolve the ordinary problems of string-based interface. The blocks could be moved on a cubic frame around the virtual environment. Finally the results of preliminary experimentation of interface are presented to show its practical characteristics. Also the interface is mounted on an automotive model to demonstrate its industrial adaptability.
机译：提出了由基于字符串的平台致动的抓握外骨骼，以在人类规模的虚拟环境中为用户的手提供力反馈。该界面的用户获得了与虚拟对象交互的七个活动自由度，其中包括三个平移度，三个旋转度和一个抓取度。外骨骼具有轻巧的人体工程学结构，可提供五个手指的抓握手势。外骨骼的致动由八根弦进行，这八根弦是平台的平行臂。每根弦线均通过新颖的设计连接到一块电动机，旋转编码器和力传感器，以为接口创造必要的力和精度。提出了一种基于力传感器测得的弦张力的混合控制方法，以解决基于弦的界面常见的问题。这些块可以在围绕虚拟环境的立方框架上移动。最后给出了界面的初步实验结果，以显示其实用特性。该接口还安装在汽车模型上，以展示其工业适应性。

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