Title :
Kinematic analysis of a hand exoskeleton structure
Author :
Inseong Jo ; Joonbum Bae
Author_Institution :
Bio-Robot. & Control (BiRC) Lab., UNIST, Ulsan, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
In this paper, a linkage structure of a hand exoskeleton system for interacting with virtual objects is proposed. Each finger has three degrees of freedom (DOF). Two DOFs come from the finger, and one DOF comes from an actuator. By combining the DOFs from the finger and the exoskeleton, the proposed linkage is able to apply force feedback to the fingertip while enabling the natural finger motion. The performance of the proposed linkage mechanism was verified by simulation.
Keywords :
actuators; couplings; dexterous manipulators; manipulator kinematics; actuators; fingertips; force feedback; hand exoskeleton structure; kinematic analysis; linkage structure; natural finger motion; Force feedback; Hand exoskeleton; Human-robot interaction; Kinematic analysis;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677310
