This study proposes a wearable robotic hand using an improved tendon mechanism enhanced compared to the existing link one with heavy and hard-to-ware. The enhanced wearable robot hand is controlled using the electromyogram (EMG) sensor. In previous tendon mechanism of wearable robotic hand, it only implemented the flexor digitorum profundus (FDP) tendon. Therefore, the fingertip is flexed much more, which means that the radius of curvature is large, so the motion of gripping an object became unstable. Prototype of the first proposed tendon-driven wearable robotic hand is implemented to both FDP and flexor digitorum superficialis tendon, so that the middle phalanx can flex with the distal phalanx. This leads the motion of gripping objects become stable. However, it is difficult to move the distal phalanx and middle phalanx together to grab the object completely. The second improved tendon mechanism of wearable robotic hand is implemented to only FDP, but it sets different friction force to each guide; thus, it can grip the object completely. The EMG sensor is used to detect the motion of the finger, and the fuzzy controller is used to control the finger of the wearable robotic hand according to the amount of muscle used.

这项研究提出了一种可穿戴的机械手，该机械手使用了改进的腱机制，与现有的链接较重且难以固定的连杆相比，增强了这种机制。使用肌电图（EMG）传感器控制增强的可穿戴机械手。在以前的可穿戴机械手的肌腱机制中，它仅实现了屈指深肌（FDP）肌腱。因此，指尖弯曲得更多，这意味着曲率半径较大，因此抓握物体的动作变得不稳定。首次提出的由腱驱动的可穿戴机械手的原型同时应用于FDP和指浅屈肌腱，因此中指骨可以与远端指骨一起弯曲。这导致抓取物体的运动变得稳定。然而，很难将远端指骨和中指骨一起移动以完全抓住物体。可穿戴机械手的第二种改进的肌腱机制仅适用于FDP，但它对每个导向装置设置了不同的摩擦力。因此，它可以完全抓住物体。EMG传感器用于检测手指的运动，模糊控制器用于根据所用肌肉的数量来控制可穿戴机械手的手指。