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Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living

文献类型：期刊论文

作者Li, Houcheng1,2; Cheng, Long1,2; Sun, Ning1,2; Cao, Ran1,2
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2021-11-11
页码11
ISSN号1083-4435
关键词Exoskeletons Grasping Electronics packaging Kinematics Senior citizens Robots Shape Admittance control assistance finger exoskeleton preshaping shape-adaptive grasping underactuation
DOI10.1109/TMECH.2021.3120030
通讯作者Cheng, Long(long.cheng.1982@gmail.com)
英文摘要In this article, a novel underactuated finger exoskeleton is designed to assist grasping tasks for the elderly with weak muscle strength. In mechanical design, the human finger's phalanges and joints are considered as part of the kinematic chains to realize the human-robot kinematic compatibility. The proposed finger exoskeleton achieves the finger preshaping and grasps objects with generic shapes. The proposed exoskeleton is both actively and passively backdriveable. Moreover, the weight of the wearable part of the proposed exoskeleton is 127 g, and the overall weight is 476 g, which indicates the proposed exoskeleton is lightweight and portable. To improve the grasping performance, the multiobjective genetic algorithm is implemented to optimize contact forces, which is to maximize the sum of the forces exerted on the index finger phalanges by the exoskeleton and to minimize the difference between the contact forces. After optimization, the sum of contact forces is risen by 15%, and the difference between forces is decreased by 53%. Furthermore, the admittance control is applied to make the proposed finger exoskeleton more compliant in the preshaping phase, and the admittance control is also implemented to achieve the fingertip grasping force control in the grasping phase. Finally, experiments have been conducted to verify the range of motion, grasping forces, and feasibility of the proposed index finger exoskeleton. The effectiveness of the control algorithm has also been verified by experiments.
WOS关键词WEARABLE HAND ; GLOVE ; ROBOT ; REHABILITATION ; MANIPULATION ; ACTUATION
资助项目National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; Beijing Municipal Natural Science Foundation[JQ19020]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000732702300001
资助机构National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/46815]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Cheng, Long
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Iaboratory Management & Control Complex, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Li, Houcheng,Cheng, Long,Sun, Ning,et al. Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021:11.
APA Li, Houcheng,Cheng, Long,Sun, Ning,&Cao, Ran.(2021).Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA Li, Houcheng,et al."Design and Control of an Underactuated Finger Exoskeleton for Assisting Activities of Daily Living".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021):11.

入库方式： OAI收割

来源：自动化研究所

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