Wearable Robotic Glove Design Using Surface-Mounted Actuators

Title
Wearable Robotic Glove Design Using Surface-Mounted Actuators
Authors
박재영황인찬이우찬
Keywords
robotic hand; soft robotics; biomimetic; surface-mounted actuator; anthropomorphic hand
Issue Date
2020-09
Publisher
Frontiers in Bioengineering and Biotechnology
Citation
VOL 8-1080
Abstract
We propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. Multiple tendons woven on the exo-glove's surface can make multi-DOF finger joint motions. We allocated tendons to mimic a hand's intrinsic and extrinsic muscles. Thus, a robotic hand actuated with the exo-glove can perform natural finger motions, including abduction/adduction and flexion/extension of finger joints. Moreover, additional tendons for the thumb enable power grips and the robotic hand's human-like motion. The proposed design approach places all the actuators on the surface without directly actuating any of the hand skeleton's joint. Therefore, a random hand skeleton can work as a robotic hand by putting the wearable robotic glove on it. Thus, the proposed model provides a high degree of freedom on choosing hand skeletons. We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove.
URI
http://pubs.kist.re.kr/handle/201004/71868
ISSN
2296-4185
Appears in Collections:
KIST Publication > Article
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