Design of a multifinger flexible exoskeleton robotic hand driven by a single motor and wires

Mengyang Gao; Huanyu Liu; Mingxiang Chen; Yu Wang

doi:10.1117/12.3015424

15 March 2024 Design of a multifinger flexible exoskeleton robotic hand driven by a single motor and wires

Mengyang Gao, Huanyu Liu, Mingxiang Chen, Yu Wang

Proceedings Volume 13079, Third International Conference on Testing Technology and Automation Engineering (TTAE 2023); 1307912 (2024) https://doi.org/10.1117/12.3015424
Event: 3rd International Conference of Testing Technology and Automation Engineering (TTAE 2023), 2023, Xi-an, China

Abstract

This design is based on a flexible wire transmission drive system in order to achieve a more supple, flexible, lightweight, and cost-effective functionality for the exoskeleton robotic hand. The entire hand is equipped with ten drive wires, and power is exclusively sourced from a single motor (a single-drive configuration). The control of motion output from this singular power source to the drive wires of the five fingers is efficiently achieved through the operation of a transmission structure and the on-off control of electromagnetic coils, facilitating the start-stop function. Furthermore, real-time control is maintained over two drive wires on each finger, enabling the generation of stroke movements in accordance with specific requirements. This innovative design results in a reduction in both the volume and weight of the exoskeleton hand's power device, leading to decreased production costs.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Mengyang Gao, Huanyu Liu, Mingxiang Chen, and Yu Wang "Design of a multifinger flexible exoskeleton robotic hand driven by a single motor and wires", Proc. SPIE 13079, Third International Conference on Testing Technology and Automation Engineering (TTAE 2023), 1307912 (15 March 2024); https://doi.org/10.1117/12.3015424

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