• 한국정밀공학회지
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• 제30권11호
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• pp.1217-1224
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• 2013

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.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.531-537
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• 2015

Hand function is one of the essential functions required to perform the activities of daily living, and wearable robots that assist or recover hand functions have been consistently developed. Previously, wearable robots commonly employed conventional robotic technology such as linkage which consists of rigid links and pin joints. Recently, as the interest in soft robotics has increased, many attempts to develop a wearable robot with a soft structure have been made and are in progress in order to reduce size and weight. This paper presents the concept of a soft wearable robot composed of a soft structure by comparing it with conventional wearable robots. After that, currently developed soft wearable robots and related issues are introduced.