Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Hand Exoskeleton using Pneumatic Artificial Muscle Combined with Linkage

링키지와 결합된 공압 인공근육을 이용한 손 외골격 제작

  • Koo, Inwook (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.) ;
  • Kang, Brian Byunghyun (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.) ;
  • Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.)
  • 구인욱 (서울대학교 기계항공공학부/정밀기계설계공동연구소) ;
  • 강병현 (서울대학교 기계항공공학부/정밀기계설계공동연구소) ;
  • 조규진 (서울대학교 기계항공공학부/정밀기계설계공동연구소)
  • Received : 2013.07.26
  • Accepted : 2013.10.24
  • Published : 2013.11.01
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Abstract

In this paper, a hand exoskeleton actuated by air muscles(soft hand exoskeleton) is introduced. Some soft hand exoskeletons have already been developed to overcome the defects of hand exoskeletons based on linkage and pneumatic piston system-they are usually bulky and do not have enough degree of freedom(DOF). However, soft hand exoskeletons still have defects. Their motions are not precise as linkage based hand exoskeletons, because their actuator, such as air muscle is made of soft materials. So we developed a new linkage which is not bulky and has redundant DOF. It is combined with air muscle in a specific way so that it acts as a guide when air muscle is actuated. Some experiments were conducted to evaluate the validity and usability of our hand exoskeleton.

Keywords

References

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