MF213 把持機能支援システム(MF21 パワーアシスト,あたり前のことを知る)

概要

論文の詳細を見る
This paper introduces an exoskeleton hand support system that provides power support for hand and wrist activities of a human. The powered hand system provides grasping force for five fingers. It also provides joint torque for human wrist. It therefore supports grasping activities of wearer's hand. Our proposed poly-articular tendon drive mechanism is installed to simulate a mechanical compliance of a human finger so that the system could keep comfortable and stable grasping. This paper also proposes a new mechanism and a control algorithm so that the powered system could synchronize wearer's hand activities in both phases; supporting phase and non-supporting phase. A tendon-driven mechanism and a dual sensing system enable wearer's fingers to move freely in the non-supporting phase. On the contrary, a wearer's fingers are assisted by the system in the supporting phase when a wearer needs a relatively larger force. The wearer's generation force is measured from BEP (bioelectric potential) signals of the corresponding muscle so that the supporting force is controlled to be proportional to the human force. Through experiments it is confirmed that a wearer receives power support from the system during grasping and wrist activities.
社団法人日本機械学会の論文
2007-09-30