Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Trend of Soft Wearable Robotic Hand

유연한 착용형 손 로봇 기술 동향

  • In, Hyunki (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University) ;
  • Jeong, Useok (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University) ;
  • Kang, Brian Byunghyun (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University) ;
  • Lee, Haemin (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University) ;
  • Koo, Inwook (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University) ;
  • Cho, Kyu-Jin (School of Mechanical & Aerospace Engineering/IAMD, Seoul National University)
  • 인현기 (서울대학교 기계항공공학부) ;
  • 정우석 (서울대학교 기계항공공학부) ;
  • 강병현 (서울대학교 기계항공공학부) ;
  • 이해민 (서울대학교 기계항공공학부) ;
  • 구인욱 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부 및 정밀기계설계공동연구소)
  • Received : 2015.02.15
  • Accepted : 2015.03.15
  • Published : 2015.06.01
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Abstract

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.

Keywords

References

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