A Lightweight Exoskeleton Force Feedback Glove

ACTUATORS(2023)

引用 1|浏览3
暂无评分
摘要
The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs only 278 g. The glove features a bionic structure and optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, a detailed illustration of the kinematic and dynamic analyses, as well as the circuit structure, was presented. With this prototype as the basis, an isomorphic teleoperation system is designed to achieve force feedback during teleoperation. Concurrently, a driving force-based impedance controller was proposed to enable smooth and precise force feedback. Finally, the performance of the EFFG prototype was evaluated in both unconstrained and constrained environments, demonstrating that the proposed glove is lightweight, capable of detecting driving force, and provides flexible force feedback.
更多
查看译文
关键词
exoskeleton, force feedback, teleoperation
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要