期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 34, 期 14, 页码 1747-1772出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364915598388
关键词
Hand exoskeleton; torque control; series elastic actuator; kinematic transparency; dynamic transparency
类别
资金
- National Science Foundation (NSF) [CNS-1135949, CNS-1135916]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1135949] Funding Source: National Science Foundation
Rehabilitation of the hands is critical for the restoration of independence in activities of daily living for individuals exhibiting disabilities of the upper extremities. There is initial evidence that robotic devices with force-control-based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this work, we present a novel index finger exoskeleton with Bowden-cable-based series elastic actuation allowing for bidirectional torque control of the device with high backdrivability and low reflected inertia. We present exoskeleton and finger joint torque controllers along with an optimization-based offline parameter estimator. Finally, we carry out tests with the developed prototype to characterize its kinematics, dynamics, and controller performance. Results show that the device preserves the characteristics of natural motion of finger and can be controlled to achieve both exoskeleton and finger joint torque control. Finally, dynamic transparency tests show that the device can be controlled to offer minimal resistance to finger motion. Beyond the present application of the device as a hand rehabilitation exoskeleton, it has the potential to be used as a haptic device for teleoperation.
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