A Lightweight Linear Actuating System for Finger Articulation: A Proof-of-Concept Study

Daniel Chizhik, B. Hejrati
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引用次数: 1

Abstract

This paper provides a proof of concept for an actuating system comprised of a linear actuator and a spring steel strip that enables bidirectional articulation of a finger by transmitting the force directly to the finger tip. This proposed design can be distinguished from other orthosis designs, which use rigid linkages or cables with DC motors or fluidic systems for force generation and transmission. We designed an experimental setup with a 3D-printed model finger to mimic a passive human finger on which the actuation system was mounted and tested. The finger was positioned such that it would curl upward to lift various masses when articulated by the actuating system to demonstrate the system’s force generation capability. We tested two linear actuators and two steel strips, using a wide range of masses to determine which would be the most suitable components for our design. We analyzed motion profiles, joint angles, force generation, and actuator stroke velocities during various experimental trials. Our results demonstrate that our actuating system is capable of generating sufficient forces and motions with an adequate response time to be used in the design of a hand orthosis for grasping/releasing assistance. From our tests, a prototype was designed with three linear actuators positioned on the dorsal side of the hand and actuated the thumb, index, and middle fingers. Future work will include sensor integration and performance evaluation of the orthosis.
一种用于手指关节的轻型线性驱动系统:概念验证研究
本文提供了一个由线性驱动器和弹簧钢带组成的驱动系统的概念证明,该系统可以通过将力直接传递到指尖来实现手指的双向关节。这种建议的设计可以与其他矫形器设计区分开来,这些矫形器使用刚性连接或电缆与直流电机或流体系统进行力的产生和传输。我们设计了一个实验装置,用3d打印的模型手指来模拟被动的人类手指,驱动系统安装在上面并进行了测试。当驱动系统铰接时,手指将向上卷曲以举起各种物体,以展示系统的发力能力。我们测试了两个线性执行器和两个钢带,使用广泛的质量来确定哪个是最适合我们设计的组件。我们在各种实验试验中分析了运动轮廓,关节角度,力产生和执行器行程速度。我们的研究结果表明,我们的驱动系统能够产生足够的力和运动,并具有足够的响应时间,可用于手部矫形器的抓取/释放辅助设计。从我们的测试中,我们设计了一个原型,它有三个位于手背侧的线性致动器,可以驱动拇指、食指和中指。未来的工作将包括传感器集成和矫形器的性能评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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