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Compliant Finger Exoskeleton with Telescoping Super-elastic Transmissions
Journal of Intelligent & Robotic Systems ( IF 3.3 ) Pub Date : 2020-04-11 , DOI: 10.1007/s10846-020-01186-0
Changsheng Li , Yusheng Yan , Hongliang Ren

Abstract

This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.



中文翻译:

伸缩式超弹性变速箱的顺应手指外骨骼

摘要

本文介绍了具有伸缩超弹性传输的顺应性手指外骨骼的概念,设计和实验特性。具有超弹性特征的镍钛(Ni-Ti)棒被用作同心伸缩机构的传输组件,从而既灵活又安全。此手指外骨骼的机制的详细特征包括手指连接器,弹性杆传输系统(ERTS)和执行器。通过有限元分析证明了服从性能。然后,针对两指原型的实验捕获了手指运动映射关系。实验结果表明一定的依从性(例如16∘食指的弯曲/伸展运动为2N)可以通过Ni-Ti杆实现,并反映在辅助运动中。

更新日期:2020-04-13
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