Bryan J Bergelin,Chris A. Ihrke,Donald R. Davis,Douglas Martin Linn,Lyndon B. J. Bridgwater
申请号：
US13408656
公开号：
US08849453B2
申请日:
2012.02.29
申请国别(地区):
US
年份:
2014
代理人:
摘要：
A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operators finger to the glove.
