1P1-O09 指の機械的特性を備えたハンド支援システム(ウェアラブルロボティクス)

概要

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This paper introduces an exoskeleton powered hand system that provides power support for hand and wrist activities of a human. The powered hand system has three degrees of freedom for an index finger and two degrees of freedom for a thumb. It also has three degrees of freedom at wrist joint. It therefore has eight degrees of freedom in order not to lose major freedoms of hand activities. Our proposed poly-articular tendon drive mechanism realizes a mechanical compliance of a human finger so that the system could keep comfortable and stable grasping even if some external force affects the grasping object. This paper also proposes a new mechanism and a control algorithm so that the powered system motions could synchronize wearer's hand activities without any external loads for a wearer. A tendon-driven mechanism and a dual sensing system enable wearer s fingers to move freely when they does not contact with any environments. A wearer ' s fingers receive power support from the system when a wearer generates a larger force. The wearer s generation force is measured from BEP(bioelectrical potential) signals of the corresponding part so that the supporting force is in proportion to that force. Through experiments it is confirmed that a wearer receives power support from the system during pinching motion and wrist activities.
2007-05-11