| Popis: |
로브의 유효성을 평가하기 위하여 검지손가락을 위한 구동회로와 센서를 포함한 전체 시스템을 제작하 였으며 가상공간에 동적 시뮬레이션을 통해서 나타낸 물체를 조작하는 실험을 수행하였다. Abstract: In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted. |
