Name
Abstract | ||
|---|---|---|
This paper presents a novel underactuated coupled adaptive hand exoskeleton, called UCAS-Hand, which is designed to assist users with weak muscle strength to complete the operation of daily living items. In mechanical design, the proposed UCAS-Hand considers the human-robot kinematic compatibility, grasping adaptability for different objects, portability with motors attached to the hand, force transfer efficiency with applying normal force to the finger phalanges, and passive backdrivability with low gear reduction ratio motor. The UCAS-Hand can realize finger underactuated motions such as flexion/extension and thumb underactuated motions such as flexion/extension, abduction/adduction, and thumb opposability. To minimize the backlashes of bevel gear transmission, a spherical four-bar mechanism and a spherical seven-bar mechanism are designed for the index finger and thumb mechanisms, respectively. Finally, the experiment is implemented to reveal the characteristics of the UCAS-Hand. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/RCAR52367.2021.9517383 | 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR) |
Keywords | DocType | ISBN |
grasping task,finger underactuated motions,thumb underactuated motions,underactuated powered hand exoskeleton,weak muscle strength,human-robot kinematic compatibility,finger phalanges,gear reduction ratio motor,spherical four-bar mechanism,spherical seven-bar mechanism,underactuated coupled adaptive hand exoskeleton,UCAS-hand,mechanical design,force transfer efficiency,passive backdrivability,flexion-extension,abduction-adduction,thumb opposability,bevel gear transmission | Conference | 978-1-6654-3679-3 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Houcheng Li | 1 | 0 | 0.34 |
| Long Cheng | 2 | 1492 | 73.97 |
| Zhengwei Li | 3 | 0 | 0.34 |
| Guotao Li | 4 | 0 | 0.34 |