Development of Grip Amplified Glove using Bi-articular Mechanism with Pneumatic Artificial Rubber Muscle

被引：76

作者：

Tadano, Kotaro ^{[1
]}

Akai, Masao ^{[2
]}

Kadota, Kazuo ^{[2
]}

Kawashima, Kenji ^{[1
]}

机构：

[1] Tokyo Inst Technol, Precis & Intelligence Lab, Midori Ku, Yokohama, Kanagawa 227, Japan

[2] Tokyo Inst Technol, Yokohama, Kanagawa 227, Japan

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

D O I：

10.1109/ROBOT.2010.5509393

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a grip amplified glove using pneumatic artificial rubber muscles (PARMs) which are covered with a exoskeleton structure is developed. A bi-articular mechanism with a PARM that is suitable for bending finger is realized. The glove has totally 10 DOFs consist of four units. To achieve power-assist motion properly, the PI control, which is based on the pressure value from the balloon sensor, is performed. This sensor makes the applied part free from electricity. To evaluate the validity of glove, the skin surface electromyography (EMG) signals of muscles are measured during grasping. These results demonstrate that the effectiveness of the power amplified glove.

引用

页码：2363 / 2368

页数：6

共 45 条

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