Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 2, Pages 865-875Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2016.2641932
Keywords
Cable-driven glove; exoskeleton; wearable robot
Categories
Funding
- National Research Foundation of Korea - Korean government [NRF-2013R1A2A1A03069658]
- Development of core teleoperation technologies for maintaining and repairing tasks in nuclear power plants - Ministry of Trade, Industry, and Energy of South Korea
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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.
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