Design of a Compact Finger-Integrated Mechanism with Robust Kinematics for Hand Exoskeleton

Autor:	Caihua Xiong, Huang Yaobin, Wenrui Chen, Wenbin Chen, Bai-Yang Sun
Rok vydání:	2015
Předmět:	Engineering Mechanism design business.industry Robustness (computer science) Data_MISCELLANEOUS Wearable computer Control engineering Robotics Artificial intelligence Kinematics business Exoskeleton
Zdroj:	Intelligent Robotics and Applications ISBN: 9783319228723 ICIRA (3)
DOI:	10.1007/978-3-319-22873-0_19
Popis:	Compactness, accurate kinematic transmission, wearable convenience, safety and applicability are important factors for wearable hand exoskeletons. Currently, integrating all the factors into an exoskeleton is still difficult. Traditionally, matching center of rotations CoR between finger joints and exoskeletons is able to ensure accurate kinematic transmission, however lacks wearable easiness and applicability in some degree. Bypassing this difficulty, this paper introduces a novel compact wearable mechanism of a finger exoskeleton which does not need to match rotation centers to human joints, while possessing robust kinematic properties. The wearable structure presents compactness, wearable easiness and safety, while theoretical results prove movement and force transmission robustness.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b5afc80568d4b64ae7be77104c1fa2a8 https://doi.org/10.1007/978-3-319-22873-0_19 Zobrazit plný text záznamu