Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Exoskeleton-Type Data Glove for Position/Force Feedback

위치/힘 피드백이 가능한 외골격 구조의 데이터 글로브 개발

  • 김민정 (성균관대학교 기계공학과) ;
  • 김대경 (성균관대학교 기계공학과) ;
  • 박한길 (성균관대학교 기계공학과) ;
  • 김의겸 (성균관대학교 기계공학과) ;
  • 최병준 (성균관대학교 기계공학과) ;
  • 최혁렬 (성균관대학교 기계공학과)
  • Received : 2011.05.26
  • Accepted : 2011.11.10
  • Published : 2011.12.01
Download PDF
⟨ Previous Next ⟩

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.

본 연구에서는 사용자의 손에 장착하여 손의 움직임을 측정하고 힘의 반영이 가능한 새로운 형태의 데이터 글로브(data glove)를 제안한다. 본 연구의 데이터 글로브는 인간의 외골격 구조의 분석이 기반하고 있으며 하나의 손가락 모듈은 4절기구의 조합을 통하여 1자유도로 구동이 되도록 고안되어 있다. 데이터 글로브는 펴기(extension)와 구부리기(flexion)를 할 수 있으며 내전(adduction)/외전(abduction)을 위해서 두 개의 유니버설 관절을 이용한 새로운 metacarpal joint 메커니즘을 고안하였다. 동 데이터 글로브의 유효성을 평가하기 위하여 검지손가락을 위한 구동회로와 센서를 포함한 전체 시스템을 제작하였으며 가상공간에 동적 시뮬레이션을 통해서 나타낸 물체를 조작하는 실험을 수행하였다.

Keywords

References

  1. Cyber glove system : http://www.vrlogic.com/html/immersion/cyberglove_systems.html.
  2. Tachi, S., Maeda, T., Hirata, R. and Hoshino, H., 1994, "A Construction Method of Virtual Haptic Space," Proc. of the 4th Int. Conf. on Artificial Reality and Telexistence, pp. 131-138.
  3. Sung, G. T. and Gill, I. S., 2001, "Robotic Laparoscopic Surgery: A Comparison of the DA Vinci and Zeus Systems," Urology, Vol. 58, pp. 893-894. https://doi.org/10.1016/S0090-4295(01)01423-6
  4. Wege, A. and Kondak, K., 2005, "Mechanical Design and Motion Control of a Hand Exoskeleton for Rehabilitation," Proc. of the IEEE Int. Conf. Mechatronics and Automation, pp. 155-159.
  5. Bouzit, M., Burdea, G., Popescu, G. and Boian, R., 2002, "The Rutgers Master II - New Design Force-Feedback Glove," IEEE/ASME Trans. on Mechatronics, Vol. 7, No. 2, pp. 256-263. https://doi.org/10.1109/TMECH.2002.1011262
  6. Nakagawara, S., Kajimoto, H., Kawakami, N., and Tachi, S., 2005, "An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints," Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1260-1265.
  7. Chiri, A., Giovacchini, F., Vitiello, N., Cattin, E., Roccella, S. and Vecchi, F., 2009, "HANDEXOS: Towards an Exoskeleton Device for the Rehabilitation of the Hand," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1106-1111.
  8. Ninomiya, T. and Maeno, T., 2008, "Analysis and Systematic Classification of Human Hand Movement for Robot Hand Design," J. of Robotics and Mechatronics, Vol. 20, No. 3, pp. 430-431.
  9. Fang, H., Xie, Z., Liu, H., Lan, T. and Xia, J., 2009, "An Exoskeleton Force Feedback Master Finger Distinguishing Contact and Non-contact Mode," IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 1059-1064.
  10. Lelieveld, M. J. and Maeno, T., 2006, "Design and Development of a 4 DOF Potable Haptic Interface with Multi-point Passive Force Feedback for the Index Finger," Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3134-3139.
  11. Calais-Germain, B., 1993, Anatomy of movement: Eastland Press.
  12. Hand Anatomy : http://skillbuilders.patientsites.com/Injuries-Conditions/Hand/Hand-Anatomy/a-280/article.html
  13. Bernardin, K., Ogawara, K., Ikeuchi, K. and Dillmann, R., 2003, "A Hidden Markov Model Based Sensor Fusion Approach for Recognizing Continuous Human Grasping Sequences," Proc. of the 3rd IEEE Int. Conf. on Humanoid Robots, pp. 1-6.
  14. Bernardin, K., Ogawara, K. and Ikeuchi, K., 2005, "A Sensor Fusion Approach for Recognizing Continuous Human Grasping Sequences Using Hidden Markov Models," IEEE Trans. on Robotics, Vol. 21, pp. 47-57. https://doi.org/10.1109/TRO.2004.833816