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http://dx.doi.org/10.7736/KSPE.2013.30.11.1217

Development of Hand Exoskeleton using Pneumatic Artificial Muscle Combined with Linkage  

Koo, Inwook (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.)
Kang, Brian Byunghyun (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.)
Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering/SNU-IAMD, Seoul National Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.11, 2013 , pp. 1217-1224 More about this Journal
Abstract
In this paper, a hand exoskeleton actuated by air muscles(soft hand exoskeleton) is introduced. Some soft hand exoskeletons have already been developed to overcome the defects of hand exoskeletons based on linkage and pneumatic piston system-they are usually bulky and do not have enough degree of freedom(DOF). However, soft hand exoskeletons still have defects. Their motions are not precise as linkage based hand exoskeletons, because their actuator, such as air muscle is made of soft materials. So we developed a new linkage which is not bulky and has redundant DOF. It is combined with air muscle in a specific way so that it acts as a guide when air muscle is actuated. Some experiments were conducted to evaluate the validity and usability of our hand exoskeleton.
Keywords
hand exoskeleton; soft hand exoskeleton; pneumatic air muscle;
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