Knowledge Commons of Institute of Automation,CAS
Design and Control of an Index Finger Exoskeleton with Cable-Driven Translational Joints | |
Li Houcheng; Cheng Long; Li Zhengwei | |
2020-09-14 | |
会议名称 | International Conference on Advanced Robotics and Mechatronics |
会议日期 | 18-21 December 2020 |
会议地点 | Shenzhen, China |
摘要 | This paper proposes a new cable-driven wearable index finger exoskeleton to exercise flexion and extension of the index finger. This exoskeleton adopts an opportune constraint planar four-bar mechanism with an actively driving translational joint to reduce vertical space occupation and to achieve joint axis alignment for human-robot kinematic compatibility. The mechanical structure of the proposed exoskeleton is further optimized to minimize the exoskeleton's volume. The proposed exoskeleton is fabricated by 3D printing, has two active degrees of freedom (DoFs) configured in the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints individually, and can be easily worn by buckling the Velcro straps. Moreover, to ensure patients move their fingers freely after powering down, a decoupling mechanism is designed to remove the coupling between the motor and the exoskeleton. Due to the fact that the human's hand main tremble unconsciously or pick up a load suddenly, such unexpected disturbances may influence the control performance of the proposed exoskeleton. To this end, the active disturbance rejection control (ADRC) algorithm is adopted to reduce the influence of external disturbances. Finally, the functionality of the proposed exoskeleton is verified by experiments, and the experiments also validate the performance of the ADRC algorithm by comparing to the traditional proportional control. |
收录类别 | EI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 人机混合智能 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51484 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | Institute of Automation,Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Li Houcheng,Cheng Long,Li Zhengwei. Design and Control of an Index Finger Exoskeleton with Cable-Driven Translational Joints[C],2020. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
2020ICARM:Design_and(1123KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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