Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators
文献类型：期刊论文
| 作者 | Sun, Ning1,2 ; Cheng, Long1,2; Xia, Xiuze1,2; Han, Lijun1,2
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| 刊名 | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
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| 出版日期 | 2023 |
| 卷号 | 31页码:2622-2631 |
| ISSN号 | 1534-4320 |
| 关键词 | Exoskeletons Indexes Force Kinematics Springs Fasteners Robots Finger exoskeleton semi-wrapped fixture series elastic actuator two-level optimization method |
| DOI | 10.1109/TNSRE.2023.3283407 |
| 通讯作者 | Cheng, Long(long.cheng@ia.ac.cn) |
| 英文摘要 | This paper proposes a novel index finger exoskeleton with semi-wrapped fixtures and elastomer-based clutched series elastic actuators. The semi-wrapped fixture is similar to a clip, which improves the convenience of donning/doffing and connection stability. The elastomer-based clutched series elastic actuator can limit the maximum transmission torque and improve passive safety. Second, the kinematic compatibility of the exoskeleton mechanism for the proximal interphalangeal joint is analyzed, and its kineto-statics model is built. To avoid the damage caused by the force along the phalanx, considering the individual difference in the size of the finger segment, a two-level optimization method is proposed to minimize the force along the phalanx. Finally, the performance of the proposed index finger exoskeleton is tested. Statistical results indicate that the donning/doffing time of the semi-wrapped fixture is significantly less than that of the Velcro. Compared with the Velcro, the average value of the maximum relative displacement between the fixture and the phalanx is reduced by 59.7%. Compared with the exoskeleton before optimization, the maximum force along the phalanx generated by the exoskeleton after optimization is reduced by 23.65%. The experimental results show that the proposed index finger exoskeleton can improve the convenience of donning/doffing, connection stability, comfort, and passive safety. |
| WOS关键词 | HAND EXOSKELETON |
| 资助项目 | National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] |
| WOS研究方向 | Engineering ; Rehabilitation |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001012830800005 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53666]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 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 Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Sun, Ning,Cheng, Long,Xia, Xiuze,et al. Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2023,31:2622-2631. |
| APA | Sun, Ning,Cheng, Long,Xia, Xiuze,&Han, Lijun.(2023).Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,31,2622-2631. |
| MLA | Sun, Ning,et al."Design and Optimization of an Index Finger Exoskeleton With Semi-Wrapped Fixtures and Series Elastic Actuators".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 31(2023):2622-2631. |
入库方式： OAI收割
来源：自动化研究所
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