DocumentCode
651057
Title
Kinematic analysis of a hand exoskeleton structure
Author
Inseong Jo ; Joonbum Bae
Author_Institution
Bio-Robot. & Control (BiRC) Lab., UNIST, Ulsan, South Korea
fYear
2013
fDate
Oct. 30 2013-Nov. 2 2013
Firstpage
457
Lastpage
458
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location
Jeju
Print_ISBN
978-1-4799-1195-0
Type
conf
DOI
10.1109/URAI.2013.6677310
Filename
6677310
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