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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living
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Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living

机译：便携式外骨骼手套，具有柔软的结构，可在日常活动中提供手帮助

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摘要

This paper presents a new portable exoskeleton glove developed for assistance in activities of daily living (ADL). The proposed glove is soft, adjustable, allows unconstrained motion of the wrist, and leaves the palm free for object grasping and manipulation. In the proposed design, both flexion and extension motions of the thumb and three fingers (excluding the little finger) are supported by respective bidirectional actuators. The kinematics of the device were derived and are presented along with an experimental evaluation. The developed glove system is compact and light, with the weights of the wearable part and the whole system being 250 and 340 g, respectively. The maximum pinch force provided by the device was experimentally measured to be 16 N, which gives the proposed device one of the highest power-to-weight ratio among existing portable devices for hand ADL assistance. The usability of the developed device was verified in a series of indoor and outdoor tests. The glove allowed test subjects to hold and manipulate versatile objects with diameters up to 90 mm and weighing 300 g. When powered by a conventional 3000-mAh battery, the glove could operate continuously performing grasping task for 4 h.
机译：本文介绍了一种新的便携式外骨骼手套，旨在协助日常生活活动（ADL）。所提出的手套柔软，可调，允许手腕不受限制地运动，并且手掌可以自由抓握和操纵物体。在提出的设计中，拇指和三个手指（不包括小指）的屈伸运动都由各自的双向致动器支撑。推导了该装置的运动学，并与实验评估一起进行了介绍。研发的手套系统紧凑轻巧，可穿戴部件和整个系统的重量分别为250和340 g。实验测得该设备提供的最大捏力为16 N，这使该拟议设备在现有的手部ADL辅助便携式设备中具有最高的功率重量比之一。经过一系列的室内和室外测试，验证了该开发设备的可用性。手套使测试对象能够握持和操纵直径最大为90毫米，重量为300克的多功能物体。当使用常规的3000 mAh电池供电时，手套可以连续工作4个小时以完成抓握任务。

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