It is desirable but difficult to develop wearable robotic devices that have a compact form factor, sufficient range of motion to perform activities of daily living and produce enough force to allow for the manipulation of the environment and objects. Conventional actuation approaches produce high force and power output but require external pressure sources or are heavy and bulky. Twisted string actuators produce high force amplification from low torque motors and require no complicated appendages, making them attractive for wearable robotic devices. However, studies that quantify the performance of twisted string actuators to conventional spooled-motor configuration are lacking. Further, it is difficult to implement bi-directional drive using twisted string actuators without making the system more complicated. In this paper, an in-depth comparison of twisted string actuators to spooled-motor configuration is presented. In addition, a robotic assistive device that leverages the advantages of twisted string actuators is presented. Supercoiled polymer strings are used in the device for both monitoring the position change through resistance changes and simultaneously provide passive force for the glove to return to neutral position. Fingertip force of more than 7 N is achieved with the glove that weighs 186 grams including the electronics. Further, picking everyday objects is demonstrated.

开发具有紧凑外形、足够运动范围以执行日常生活活动并产生足够力以允许操纵环境和物体的可穿戴机器人设备是可取的但困难的。传统的致动方法产生高力和功率输出，但需要外部压力源或笨重。双绞线致动器从低扭矩电机产生高力放大，并且不需要复杂的附件，使其对可穿戴机器人设备具有吸引力。然而，目前还缺乏将扭弦致动器的性能量化为传统绕线电机配置的研究。此外，难以在不使系统更复杂的情况下使用扭弦致动器实现双向驱动。在本文中，介绍了扭弦致动器与绕线电机配置的深入比较。此外，还介绍了一种利用扭弦致动器优势的机器人辅助设备。该设备中使用超螺旋聚合物线，通过阻力变化监测位置变化，同时为手套返回中立位置提供被动力。包括电子设备在内的重量为 186 克的手套可实现超过 7 N 的指尖力。此外，还展示了挑选日常物品。该设备中使用超螺旋聚合物线，通过阻力变化监测位置变化，同时为手套返回中立位置提供被动力。包括电子设备在内的重量为 186 克的手套可实现超过 7 N 的指尖力。此外，还展示了挑选日常物品。该设备中使用超螺旋聚合物线，通过阻力变化监测位置变化，同时为手套返回中立位置提供被动力。包括电子设备在内的重量为 186 克的手套可实现超过 7 N 的指尖力。此外，还展示了挑选日常物品。