Title :
Force transmission in joint-less tendon driven wearable robotic hand
Author :
Kang, Brian Byunghyun ; In, HyunKi ; Cho, Kyujin
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
Abstract :
This paper presents the design analysis and the fabrication process of Tendon Anchoring Support(TA Support). TA Support is developed to deliver the wire tension effectively to target actuation point, fingertip, while developing SNU Exo-Glove, which is joint-less tendon driven robot. Based on the force analysis of SNU Exo-Glove, TA Support was developed with several design considerations, especially customization to maximize force transmission. For that, fabrication process for customization to patient´s hand has been established and introduced in this paper. To check the viability of customization, pressure measurement experiment has been performed. Engineers developing the soft wearable robot with tendon driven mechanism will always encounter force transmission problem, delivering force from actuator to target actuation point, as stated in this paper and this paper can suggest one possible effective solution.
Keywords :
actuators; data gloves; design engineering; dexterous manipulators; medical robotics; pressure measurement; tensile strength; wires; SNU Exo-Glove; TA Support; actuation point; customization process; fingertip; force transmission; force transmission problem; jointless tendon driven wearable robotic hand; patient hand; pressure measurement experiment; soft wearable robot; target actuation point; tendon anchoring support design analysis; tendon anchoring support fabrication process; tendon driven mechanism; wire tension; Force; Joints; Robots; Tendons; Thumb; Wires; 3D Printer; 3D Scanner; Customization; SNU Exo-Glove; Tendon Anchoring Support;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8