Configuration design and kinematic analysis of the self-alignment type finger exoskeleton mechanism - 文章详情页

作者：

Zhang, Zhaojing (Zhang, Zhaojing.) | Li, Jianfeng (Li, Jianfeng.) (学者：李剑锋) | Guo, Xibin (Guo, Xibin.) | Chen, Jing (Chen, Jing.) | Li, Pengfei (Li, Pengfei.) (学者：李鹏飞)

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摘要：

According　to　the　main　joint　movement　of　the　hand,　this　paper　proposes　a　single　finger　mechanism　model　containing　two　man-machine　closed　chain　for　a　hand　exoskeleton,　which　is　based　on　the　kinematics　model　of　the　hand.　In　order　to　increase　the　man-machine　compatibility,　one　of　the　human-machine　closed　chain　is　the　planar　five　bar　mechanism　including　two　human　joints　and　three　mechanical　revolute　joints,　which　has　one　degree-offreedom(DOF),　the　flexion　and　extension　of　each　human　joint　can　be　realized.　Another　man-machine　closed　chain　is　the　spatial　six　bar　mechanism　including　one　human　joint,　four　mechanical　revolute　joints,　and　one　cylindrical　pair,　which　has　two　DOF,　the　flexion/extension　and　the　abduction/adduction　movements　of　human　joint　can　be　realized.　Two　man-machine　closed　kinematic　model　are　analyzed,　and　got　the　finger　joint　motion　position　solution.　The　above　study　will　provide　a　theoretical　basis　for　further　motion　planning　and　control.　©　2018　IET　Conference　Publications.　All　rights　reserved.

关键词：

Bars (metal) Exoskeleton (Robotics) Kinematics

作者机构：

[ 1 ] [Zhang, Zhaojing]Beijing Institute of Precise Mechatronics and Controls, Beijing, China
[ 2 ] [Zhang, Zhaojing]College of Mechanical and Electrical Engineering, Beijing University of Technology, Beijing, China
[ 3 ] [Li, Jianfeng]College of Mechanical and Electrical Engineering, Beijing University of Technology, Beijing, China
[ 4 ] [Guo, Xibin]Beijing Institute of Precise Mechatronics and Controls, Beijing, China
[ 5 ] [Chen, Jing]Beijing Institute of Precise Mechatronics and Controls, Beijing, China
[ 6 ] [Li, Pengfei]Beijing Institute of Precise Mechatronics and Controls, Beijing, China

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