Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators

doi:10.1109/TNSRE.2023.3283407

	Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators
	Sun, Ning1,2 ; Cheng, Long1,2 ; Xia, Xiuze1,2 ; Han, Lijun1,2
发表期刊	IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
ISSN	1534-4320
	2023
卷号	31 页码:2622-2631
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
摘要	This paper proposes a novel index finger exoskeleton with semi-wrapped fixtures and elastomer-based clutched series elastic actuators. The semi-wrapped fixture is similar to a clip, which improves the convenience of donning/doffing and connection stability. The elastomer-based clutched series elastic actuator can limit the maximum transmission torque and improve passive safety. Second, the kinematic compatibility of the exoskeleton mechanism for the proximal interphalangeal joint is analyzed, and its kineto-statics model is built. To avoid the damage caused by the force along the phalanx, considering the individual difference in the size of the finger segment, a two-level optimization method is proposed to minimize the force along the phalanx. Finally, the performance of the proposed index finger exoskeleton is tested. Statistical results indicate that the donning/doffing time of the semi-wrapped fixture is significantly less than that of the Velcro. Compared with the Velcro, the average value of the maximum relative displacement between the fixture and the phalanx is reduced by 59.7%. Compared with the exoskeleton before optimization, the maximum force along the phalanx generated by the exoskeleton after optimization is reduced by 23.65%. The experimental results show that the proposed index finger exoskeleton can improve the convenience of donning/doffing, connection stability, comfort, and passive safety.
关键词	Exoskeletons Indexes Force Kinematics Springs Fasteners Robots Finger exoskeleton semi-wrapped fixture series elastic actuator two-level optimization method
DOI	10.1109/TNSRE.2023.3283407
关键词[WOS]	HAND EXOSKELETON
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Engineering ; Rehabilitation
WOS类目	Engineering, Biomedical ; Rehabilitation
WOS记录号	WOS:001012830800005
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53667
专题	多模态人工智能系统全国重点实验室
通讯作者	Cheng, Long
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Sun, Ning,Cheng, Long,Xia, Xiuze,et al. Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2023,31:2622-2631.
APA	Sun, Ning,Cheng, Long,Xia, Xiuze,&Han, Lijun.(2023).Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,31,2622-2631.
MLA	Sun, Ning,et al."Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 31(2023):2622-2631.