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정용준; 김종인; 전형석; 이덕원; 김용재

doi:10.5302/J.ICROS.2016.16.0152

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자료유형: 학술저널

저자정보: 정용준 (한국기술교육대학교) 김종인 (한국기술교육대학교) 전형석 (한국기술교육대학교) 이덕원 (한국기술교육대학교) 김용재 (한국기술교육대학교)

저널정보: 제어로봇시스템학회 제어로봇시스템학회 논문지 제어로봇시스템학회 논문지 제22권 제12호

발행연도: 2016.12

수록면: 1,011 - 1,020 (10page)

DOI: 10.5302/J.ICROS.2016.16.0152

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This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

#wearable glove #soft mechanism #hand assist device #grasping force

참고문헌 (15)

참고문헌 신청

[학술대회논문] - N. S. K. Ho / 2011 / An EMG-driven exoskeleton hand robotic training device on chronic stroke subjects: Task training system for stroke rehabilitation / Proc. IEEE International Conference on Rehabilitation Robotics : 1 ~ 5

[학술대회논문] - M. A. Delph / 2013 / A soft robotic exomusculature glove with integrated sEMG sensing for hand rehabilitation / Proc. of IEEE International Conference on Rehabilitation Robotics : 1 ~ 7

[학술대회논문] - P. Polygerinos / 2013 / Towards a soft pneumatic glove for hand rehabilitation / Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems : 1512 ~ 1517

[학술대회논문] - P. Polygerinos / 2015 / Soft robotic glove for hand rehabilitation and task specific training / Proc. of IEEE International Conference on Robotics and Automation : 2913 ~ 2919

[학술지(정기간행물)] - A. Chiri / 2012 / Mechatronic design and characterization of the index finger module of a hand exoskeleton for post-stroke rehabilitation / IEEE American Society of Mechanical Engineers Transactions on Mechatronics 17 (5) : 884 ~ 894

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