SE2250584A1

SE2250584A1 - A strengthening glove, a control system, and methods for controlling a strengthening glove

Info

Publication number: SE2250584A1
Application number: SE2250584A
Authority: SE
Inventors: Martin Ewaldsson
Original assignee: Bioservo Tech Ab
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2023-11-17
Also published as: WO2023224534A1

Abstract

The technology disclosed relates to a strengthening glove with at least one glove finger and comprising a control system arranged to strengthen a gripping movement performed by a human hand wearing the glove. Sensor means is arranged to detect a respective force in at least one measurement location. The control system may comprise at least one actuator arranged to impart a force to a respective at least one of the glove fingers and read respective sensor measurement values from the sensor means. The system controls the machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values read from the sensor means. The control system is further configured to adaptively determine and control the relationship between the sensor input force detected by the sensor means and the machine output force of the actuating means for the next gripping movement based on sensor measurement values read from the sensor means during a previous gripping movement.

Description

TECHNICAL FIELD The technology disclosed relates to a strengthening glove, or force-assisting glove, in other words a glove arranged to be worn by a human hand and used for strengthening a gripping movement executed by one or more fingers of the hand. The technology disclosed also relates to a control system for use in a strengthening glove, and methods for operating a strengthening glove.

BACKGROUND The technology disclosed relates to a strengthening glove, or force-assisting glove, arranged to be worn by a human hand and used for strengthening a gripping movement executed by one or more fingers of the hand. The technology also relates to a control system for a strengthening glove, and methods for operating such a strengthening glove.

Such strengthening gloves are known, using different operating principles, such as arranging individual driving units on each finger to be strengthened or by using wires or cables, such as artificial tendons, in order to apply pushing and/or pulling forces onto particular points on each ﬁnger to be strengthened. For instance, electric or pneumatic driving mechanisms may be employed.

One example of such a glove is described in US 8,029,414 B2, using artificial tendons fastened to strengthened ﬁngers and driven by a central control system, in turn applying pulling forces to the tendons.

Such a glove operates to offer general strengthening of the movements of the human hand wearing the glove. For instance, when the human hand grips an object, the gripping force applied by the human user is ampliﬁed to strengthen the grip.

A problem when using such a strengthening glove is that different tasks and actions require a suitable aid. For instance, it may be difﬁcult to provide, for different tasks performed by the strengthening glove and over time, a suitable combined grasping force of the user and the control system.

US 2013226350 A1 discloses a strengthening glove with speciﬁc gripping features, initiated using a separate control device.

EP 2417941 A discloses a movement assisting glove with a biosignal detection part conﬁgured to detect a biosignal that causes a ﬁnger of a wearer to move. PROBLEMS WITH THE PRIOR ART The various tasks and actions performed by a strengthening glove, or force-assisting glove, require a suitable aid and an applied machine output force which is adapted to the individual task performed by the glove.

However, the sensor measurement values obtained by the sensors means of the strengthening glove during a movement, e.g. gripping movement, are subjected to different factors that have an impact on and constantly and continuously changes the measurement values obtained during operation and over time. For example, the range of the sensor input force values detected by at least one sensor of the glove, e.g. detected by pressure and/or force sensors, and the thereby the machine output force applied via the actuators, may depend on the nature of the different tasks performed by the strengthening glove.

Furthermore, the force or pressure detected by the sensors, and thereby also the machine output response applied by control system via its actuators, may also depend on the response sensitivity of the sensors and the physical and mechanical properties of the gloves, including the aging of the gloves and their sensors.

The problems with prior art force-assisting gloves, or strengthening gloves, also include that the properties of these gloves and their sensors typically vary over time and betvveen individual gloves. For instance, it may be difficult to provide, for the various tasks performed by the same strengthening glove and because the properties of the glove and its sensors units continuously change over time, a proper and suitable combined grasping force of the user and the control system of the glove.

As an example, it may be difficult to provide a proper and suitable combined grasping force of the user and an applied machine output force when the control and sensitivity of the glove is solely based on a set of ﬁxed parameters and/or ﬁxed control programs or when parameter values for controlling the glove may only be changed manually.

Thus, prior art force-assisting gloves typically do not adjust to, or take into account, the different natures of the various tasks performed, the current response sensitivity of the individual sensors and the mechanical properties of the gloves when determining the machine output force to be applied for a gripping movement.

As an example, the varying nature of the tasks performed by a strengthening glove include that some tasks during certain periods involve the application of very high forces to properly execute the tasks involving a gripping movement, while for other tasks the suitable machine output force range applied via the actuating means is smaller and/or the maximum output force applied during the gripping movement is lower.

The response sensitivity, of the sensors may depend on the sensor technology used as well as the physical and electrical properties of the individual sensor unit. Moreover, the response sensitivity of a sensor typically decreases with time during the age of the sensor.

Furthermore, the anatomy of the hand of the user wearing the strengthening glove also varies betvveen different users, e.g. the varying hand anatomies of different users wearing the same strengthening glove have an impact on the range of the detected sensor input force, or pressure, and therefore normally also have an impact on the machine force output applied by the actuators during a gripping movement.

Moreover, in the event a protective glove is used on top of the strengthening glove, different protective gloves have different mechanical properties, which leads to that the force or pressure transmission through the protective glove may vary that, in turn, typically causes the sensor input force range to vary with the type of protective glove used. For example, a relatively thick and hard protective glove generally gives a lower sensor input range than a relatively thin and soft protective glove.

Hence, the sensor input force range detected by the sensor means of the strengthening glove and the maximum machine output force applied during a gripping movement may typically vary with the different tasks performed by the strengthening glove, the response sensitivity of the sensor technology used and the individual sensor units, and, in the event the user is wearing a protective glove on top of the strengthening glove, the physical properties of the protective glove.

All of the above factors may inﬂuence the combined grasping force of the user and the control system of the glove, e.g. the combined force of the manual force imparted onto the contact surfaces by the ﬁngers of the user and the machine output force applied by the control system via the actuators of the strengthening glove. ln order to provide a more suitable machine output force response to a manually applied force, it is desired to compensate for at least some of the above factors that have an impact on the applied machine output force and thereby the combined grasping force of the user and the machine output force applied by the control system of the glove.

SUMMARY The technology disclosed relates to a strengthening glove, or force-assisting glove, in other words a glove arranged to be worn by a human hand and used for strengthening a movement, e.g. a gripping movement, executed by one or more ﬁngers of the hand. ln particular, the technology also relates to the adaptive feedback control of a strengthening glove, and a control system and methods for operating such a strengthening glove by adaptively adjusting the sensitivity of the glove, i.e. the relationship between the sensor input force detected and the machine output force applied by the control system via its actuating means.

The control system of the technology disclosed is conﬁgured to adaptively control the sensitivity of the glove and thereby the machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values read from at least one sensor arranged in the at least one measurement location, where the sensitivity of the glove is adaptively adjusted based on sensor information obtained during at least one previous gripping movement.

According to aspects of the technology disclosed, the control system is conﬁgured to adaptively determine the relationship between the sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove finger via the at least one actuating means for the next, a subsequent or future gripping movement, where the relationship is determined based on sensor measurement values for the sensor input force which are read from, or obtained by, the at least one sensor means during at least one previous gripping movement.

The control system may be conﬁgured to automatically and adaptively determine and/or adjust the relationship between the sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove finger by the control system via the at least one actuating means for the next, a subsequent or future gripping movement based on sensor measurement values read or obtained during at least one previous gripping movement. ln different embodiments of the technology disclosed, the software and/or hardware of the same control system may also be conﬁgured to control, for the next, a subsequent or future gripping movement, the machine output force applied via the at least one actuating means in accordance with the determined, e.g. automatically and adaptively adjusted, relationship between the sensor input force detected by the at least one sensor means and the machine output force applied for the respective at least one glove ﬁnger via the at least one actuating means. ln embodiments, the strengthening glove of the technology disclosed consists of a glove-like device comprising artiﬁcial tendons running through ducts and/or sown into the ﬁngers, which typically are connected to a power unit. The power unit may then be part of an actuator means comprising at least one actuator for pulling on the artificial tendons to thereby strengthen a movement imparted by the user, e.g. a gripping movement. ln embodiments, the control system may configured to, based on previously obtained sensor measurement values, automatically adjust parameters that determine at least one of the slope of the up- ramp determining the increasing machine output force applied to the respective at least one glove ﬁnger via the at least one actuating means as a function of increasing sensor input force detected (i.e. the sensitivity of the strengthening glove), an activation threshold value for the sensor input force below which no machine output force is applied, a saturation threshold value for the sensor input force above which a maximum machine output force of at least one of the at least one actuating means is applied, and the magnitude of the maximum machine output force applied via at least one of the at least one actuating means. ln embodiments, the control system may be conﬁgured to store sensor measurement values obtained during at least one previous gripping movement and automatically determine and adjust, based on the stored sensor measurement values, the relationship between the sensor input force and the machine output force of the at least one actuating means for the next gripping movement as a function of the stored sensor measurement values. ln embodiments, the control system is configured to adaptively determine and control, for the next gripping movement, the machine output force applied to the respective at least one glove ﬁnger via the at least one actuating means as a function of the sensor input force based on sensor measurement values read and obtained from the sensor means during at least one previous gripping movement. ln embodiments, the control system is conﬁgured to determine and store the range of obtained sensor measurement values for a plurality of previous gripping movements and adaptively determine and adjust the machine output force applied to the respective at least one glove finger via the at least one actuating means as a function of the sensor input force based on the stored range of obtained sensor measurement values for the plurality of previous gripping movements. ln embodiments, the control system is configured to determine the range of obtained sensor measurement values for the plurality of previous gripping movements by applying a lowpass ﬁiter and then determine and adjust the relationship between the sensor input force and the machine output force of the at least one actuating means for the next gripping movement based on the determined range of SGHSOI' meaSUfement ValUeS. ln embodiments, the control system is configured to adaptively determine and adjust, e.g. for the next gripping movement, at least one parameter value determining at least one of an activation threshold value for the sensor input force below which no machine output force is applied, a saturation threshold value above which a maximum machine output force is applied for all sensor input force values via the at least one actuator of the at least one actuating means, and the maximum machine output force applied for the next gripping movement. The control system may then be further conﬁgured to determine the at least one parameter value based on the sensor measurement values read from the at least one sensor means during at least one previous gripping movement. ln embodiments, the control system is configured to adaptively determine and adjust, for the next or a subsequent gripping movement, at least one sensitivity parameter value determining the machine output force applied to the respective at least one glove finger via at least one of the at least one actuating means as a function of the sensor measurement values obtained from the at least one sensor means, wherein the control system is further conﬁgured to determine the at least one sensitivity parameter value based on the sensor measurement values read by or obtained from the at least one sensor means during at least one previous gripping movement and then control the next or subsequent gripping movement in accordance with the determined at least one sensitivity parameter values. ln embodiments, the adjustment of the at least one parameter value determining the relationship between the machine output force applied and the sensor input force for the next gripping movement may be determined based on sensor measurement values read or obtained during a plurality of gripping movements. ln certain embodiments, weighting factors may be used for the plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a greater impact on the determining of the relationship between the machine output force applied and the detected sensor input force than the impact of a gripping movement performed earlier than the immediately preceding gripping movement. ln embodiments, the control system of the strengthening glove is conﬁgured to apply individual weighting factors to the plurality of previous gripping movements that determine the plurality of previous gripping movements relative impact on the determining of a relationship between the machine output force applied and the detected sensor input force, i.e. the sensitivity of the glove. The method according to the technology disclosed may then comprise the step of determining, e.g. by the control system and for the next gripping movement, the relationship betvveen the machine output force applied and the detected sensor input force based on a plurality of previous gripping movements and by applying individual weighting factors to the plurality of previous gripping movements ln embodiments, the control system is configured to apply individual weighting factors to a plurality of previous gripping movements when determining a relationship betvveen the machine output force applied and the detected sensor input force, e.g. when determining the machine output force applied as a function of the detected sensor input force. ln embodiments, the control system is conﬁgured to apply individual weighting factors to a plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a greater impact on the determining of the relationship between the machine output force applied and the detected sensor input force than the impact of a gripping movement performed earlier than the immediately preceding gripping movement. ln embodiments, the control system is conﬁgured to adaptively determine and adjust, for the next gripping movement, the activation threshold value for the sensor input force below which no machine output force is applied by the at least one actuating means, and wherein the activation threshold value is determined based on sensor measurement values read from the sensor means during at least one previous gripping movement. ln embodiments, the control system is conﬁgured to adaptively determine, for the next gripping movement, the magnitude of the maximum machine output force applied by at least one of the at least one actuating means, and wherein the maximum machine output force applied is determined based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement. ln embodiments, the control system is conﬁgured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust the relationship between the sensor input force and the machine output force based on the stored sensor measurement values obtained during a plurality of previous gripping movements. 7 ln embodiments, the control system of the strengthening glove is configured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust, based on the stored sensor measurement values, at least one of the slope of the up-ramp determining the increasing machine output force applied by the at least one actuating means as a function of increasing sensor input force detected, an activation threshold value for the sensor input force below which no machine output force is applied, a saturation threshold value for the sensor input force above which a maximum machine output force is applied via the at least one actuator of the at least one actuating means, and a maximum machine output force applied for the next gripping movement. ln aspects, the technology disclosed relates to a method for operating a strengthening glove with at least one glove ﬁnger and comprising at least one sensor means with at least one sensor arranged in at least one measurement location for detecting a respective force and a control system including at least one actuating means, the method comprising the steps of: a) reading, by the control system, sensor measurement values detected by the at least one sensor of the at least one sensor means during at least one gripping movement; b) determining, by the control system for the respective at least one glove ﬁnger and for the next or a subsequent gripping movement, the relationship between a sensor input force detected by the at least one sensor means and the respective at least one machine output force to be applied to the respective at least one glove ﬁnger by the control system via the at least one actuating means, wherein the determining of the relationship is based on the sensor measurement values read and/or obtained from the at least one sensor means during the at least one gripping movement; and c) controlling, by the control device and for the next or a subsequent gripping movement, the machine output force applied to a respective at least one of the glove ﬁngers via at least one of the at least one actuating means, wherein the respective machine output force applied to a respective at least one of the glove ﬁngers for the next or a subsequent gripping movement is in accordance with the determined relationship between the sensor input force detected and the machine output force. ln aspects, the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one sensor means arranged to detect, in at least one measurement location on at least one of the palm of the hand and the palm side of the at least one glove finger, a respective force betvveen a respective human ﬁnger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied, which glove further comprises at least one actuating means arranged to impart a force to a respective at least one of the glove ﬁngers and a control system and/or control device arranged to read respective sensor measurement values from the at least one sensor means for each of the at least one measurement location and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values, the method comprising the steps of: a) reading, by the control system and/or control device, sensor measurement values for at least one of the at least one measurement location from the at least one sensor means during at least one gripping movement; b) determining, by the control system and/or control device and for the next gripping movement, the relationship between at least one sensor input force detected by the at least one sensor means for at least one of the at least one measurement location and at least one machine output force to be applied to the respective at least one of the glove ﬁngers by the control system via the at least one actuating means based on the sensor measurement values read from the at least one sensor means during the at least one gripping movement; and c) controlling, by the control device and for the next or a subsequent gripping movement, the machine output force applied to a respective at least one of the glove ﬁngers via at least one of the at least one actuating means, wherein the respective machine output force applied to a respective at least one of the glove fingers for the next or a subsequent gripping movement is in accordance with the determined relationship between the respective at least one sensor input force detected and the machine output force to be applied to at least one of the glove fingers. ln aspects, the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove finger, a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which the gripping movement is applied, which glove further comprises at least one actuating means arranged to impart a force to a respective at least one of the glove fingers and a control system and/or control device arranged to read respective sensor measurement values from the at least one sensor means for each of the at least one measurement location and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values, the method comprising the steps of: a) reading, by the control system and/or control device, sensor measurement values for at least one of the at least one measurement location from the at least one sensor means during at least one gripping movement; b) determining, by the control system and/or control device and for the next gripping movement, the relationship between the at least one sensor input force detected by the at least one sensor means and at least one machine output force to be applied to the respective at least one glove ﬁnger by control system via the at least one actuating means based on the sensor measurement values read from the at least one sensor means during the at least one gripping movement; and c) controlling, by the control device and for the next or a subsequent gripping movement, the machine output force applied to the respective at least one of the glove ﬁngers via at least one of the at least one actuating means, wherein the respective applied machine output force for the next or a subsequent gripping movement is in accordance with the determined relationship between the at least one sensor input force detected and the machine output force for the respective at least one glove ﬁnger ln embodiments, the method further comprising storing, by the control device, sensor measurements values obtained during the at least one previous gripping movement, and automatically determining and adjusting, based on the stored sensor measurement values, the relationship between the at least one sensor input force detected by the at least one sensor means and the at least one machine output force applied to the respective at least one glove finger for the next gripping movement. ln embodiments, the method further comprising adjusting, by the control device and for the next gripping movement, the slope of the up-ramp determining the increasing machine output force applied by the at least one actuating means to at least one of the glove fingers as a function of increasing sensor input force detected by the at least one sensor means, wherein the up-ramp slope is determined based on sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. ln embodiments, the method further comprising determining, by the control device, the range of obtained sensor measurement values for a plurality of previous gripping movements, and adaptively adjusting, by the control device, the slope of the up-ramp determining the increasing machine output force applied by the at least one actuating means to the respective at least one of the glove ﬁngers as a function of increasing sensor input force detected by the at least one sensor means for the next gripping movement based on a plurality of determined ranges of obtained sensor measurement values for the plurality of previous gripping movements. ln embodiments, the method further comprising determining, by the control device, the range of obtained sensor measurement values for the sensor input force during a plurality of previous gripping movements by applying a lowpass ﬁlter, and then adjusting, by the control device, the slope of the up- ramp for the next gripping movement based on the determined range of sensor measurement values. ln embodiments, the method further comprising automatically and adaptively adjusting, for the next gripping movement and by the control device based on the stored sensor measurement values obtained during a plurality of previous gripping movements, at least one of the slope of the up-ramp determining the increasing machine output force applied by at least one of the at least one actuating means as a function of increasing sensor input force detected by at least one of the at least one sensor means, an activation threshold value for the respective sensor input force below which no machine output force is applied, a saturation threshold value for the respective sensor input force above which a maximum machine output force of at least one of the at least one actuating means is applied, and a maximum machine output force applied to the respective at least one glove finger by at least one of the at least one actuating means. ln embodiments, the method further comprising adaptively determining, by the control device and for the next gripping movement, at least one parameter value determining at least one of an activation threshold value for the respective sensor input force below which no machine output force is applied, a saturation threshold value above which a maximum machine output force of at least one of the at least one actuating means is applied, and a maximum machine output force applied to the respective at least one glove ﬁnger for the next gripping movement, wherein the determining of the at least one parameter values is based on the sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. ln embodiments, the method further comprising adaptively determining, by the control device and for the next gripping movement, at least one sensitivity parameter value determining the machine output force 11 applied to the respective at least one glove finger by at least one of the at least one actuating means as a function of the sensor measurement values obtained from the at least one sensor means, wherein said determining of the at least one sensitivity parameter value is based on the sensor measurement values read from the at least one sensor means during the at least one previous gripping movement.

BRIEF DESCRIPTION OF DRAWINGS Preferred embodiments of a strengthening glove and control system according to the technology disclosed will be described more in detail below with reference to the accompanying drawings wherein: ln the following, the technology disclosed will be described in detail, with reference to exemplifying embodiments and to the enclosed drawings, wherein: Figure 1 is a perspective view of a strengthening glove according to an example embodiment of the technology disclosed, worn by a human hand and comprising a control system; Figure 2 is a perspective view of a strengthening glove according to another second example embodiment of the technology disclosed, worn by a human hand and further showing sensor means; Figure 3 is a ﬂowchart illustrating a method according to the technology disclosed; and Figure 4 illustrates an example of the machine output force applied as a function of the detected sensor input force.

DETAILED DESCRIPTION ln the drawings, similar details are denoted with the same reference number throughout the different embodiments. ln the various embodiments of the strengthening glove and control system according to the technology disclosed, the different subsystems are denoted. The "boxes"/subsystems shown in the drawings are by way of example only and can within the scope of the technology disclosed be arranged in any other way or combination. ln the drawings, similar details are denoted with the same reference number throughout the different embodiments.

The technology disclosed relates to a strengthening glove, or force-assisting glove, in other words a glove arranged to be worn by a human hand and used for strengthening a gripping movement executed 12 by one or more ﬁngers of the hand. The technology also relates to a feedback control system for a strengthening glove, and methods for operating such a strengthening glove. ln particular, the technology disclosed relates to a strengthening glove and control system for adaptive control of the glove, and methods for adaptive control of a strengthening glove.

The technology disclosed relates to a strengthening glove with at least one glove finger and comprising a control system arranged to strengthen a movement, e.g. a gripping movement, performed by a human hand wearing the strengthening glove.

The control system comprises at least one sensor means with at least one sensor arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove finger, a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which the gripping movement is applied.

The control system of the strengthening glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective at least one of the glove fingers. The control system may further comprise a control device arranged to read respective sensor measurement values from the at least one sensor means for each of the at least one measurement location.

The at least one sensor means is typically arranged on at least one of the palm of the hand and the palm side of the at least one glove ﬁnger of the strengthening glove and is configured to detect a respective pressure or force between a respective human finger wearing the respective glove ﬁnger and a respective contact surface onto which a gripping movement is applied.

The technology disclosed is partly based on the insight that the machine output force applied to the respective at least one glove ﬁnger by the control system via its actuators is in response to, or a function of, the sensor measurement values of the pressure or force detected by the force detecting sensor means and not the manual force imparted by the user.

The inventors have realized that the sensor input force detected and thereby the machine output force applied by a strengthening glove, or force-assisting glove, is subjected to different factors that have an impact on and constantly and continuously changes the range of sensor measurement values detected and thereby the machine output force applied by the strengthening glove during operation and over time. 13 For example, the inventors have realized that the range of detected sensor measurement values and thereby the magnitude of the applied machine output force may depend on the different nature of the various tasks performed by the strengthening glove, the sensor technology used for the sensors and the physical and electrical properties of the individual sensors.

Moreover, the inventors have also realized that the range of detected sensor measurement values and thereby the applied machine output force continuously change over time when the electrical properties of the individual sensors and the mechanical properties of the individual gloves change, including the aging of the gloves and their sensors.

The problems with prior art strengthening gloves therefore include that the properties of the strengthening gloves typically vary over time and betvveen individual strengthening gloves, and that the different tasks and actions require a suitable aid. For instance, it may be difﬁcult to provide, for different tasks performed by the strengthening glove and because the electrical and mechanical properties of the glove and its sensors change over time, a suitable combined grasping force of the user and the control system of the glove.

The varying nature of the tasks performed by a strengthening glove include that some tasks during certain periods involve application of very high forces to properly execute the tasks, while for other tasks the suitable machine output force range of the actuating means is smaller and/or lower.

The sensitivity and response of the sensors may depend on the sensor technology used as well as the physical and electrical properties of the individual sensor unit. Moreover, the response sensitivity of a sensor, i.e. the electrical signal generated by the sensor in response to the pressure or force applied to the sensor, typically decreases with time during the age of the sensor.

Furthermore, the anatomy of the hand of the user wearing the strengthening glove also varies between different users, e.g. varies with the hand anatomy of different users wearing the same strengthening glove.

Moreover, and in the event a protective glove is used on top of the strengthening glove, different protective gloves have different physical and mechanical properties, which leads to that the force transmission through the protective glove may vary that, in turn, typically causes the sensor input force range to vary with the type of protective glove used. For example, a relatively thick and hard protective glove generally gives a lower sensor input range than a relatively thin and soft protective glove. 14 Thus, the sensor input force range detected by the sensor means of the strengthening glove during a task and thereby the machine output force typically vary with the different tasks performed by a strengthening glove, the response sensitivity of the sensor technology and the individual sensor units, i.e. the electrical signal generated by the sensor in response to the pressure or force applied to the sensor, and, in the event the user is wearing a protective glove on top of the strengthening glove, the physical and mechanical properties of the protective glove.

The above factors may inﬂuence the combined grasping force of the user and the control system of the glove, i.e. the combined force of the manual force applied by the user and the machine output force applied via the actuators of the strengthening glove. The machine output force is applied to the respective at least one glove ﬁnger by the control system via its actuators in response to the force or pressure detected by the at least one sensor arranged in the at least one measurement location, where the at least one pressure or force detected comes from the gripping movement applied by the user. The at least one pressure or force detecting sensor means is typically arranged on the palm of the hand and/or the palm side of the at least one glove ﬁnger of the strengthening glove and is typically configured to detect a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which a gripping movement is applied. ln order to provide a more suitable machine output force response to a manually applied force, the technology disclosed proposes to adaptively compensate for at least some of the above factors that have an impact on the combined force of the manual force applied by the user and the machine output force applied to the respective at least one glove finger by the control system via the actuators of the strengthening glove in response to sensor input force detected by sensor means of the strengthening glove.

To compensate for at least some of the above factors and to address problems with prior art solutions, the technology disclosed proposes to adaptively and automatically adjust the sensitivity of the strengthening glove, i.e. the relationship between the at least one sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove ﬁnger via the at least one actuator of the at least one actuating means. Preferably, a plurality or all of the above-mentioned factors are addressed by the adaptive control solution provided by the technology disclosed.

By using adaptive sensitivity that enables the adaptation of the sensor input force range and/or the range and magnitude of the machine output force applied to the respective at least one glove ﬁnger, the technology disclosed introduces and ensures good operability of the strengthening glove.

The technology disclosed also relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one force detecting sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.

The strengthening glove further comprises at least one actuating means arranged with at least one actuator to impart a machine output force to a respective one of the glove fingers, so that the corresponding human finger wearing the glove ﬁnger in question is strengthened in its gripping movement.

The strengthening glove of the technology disclosed further comprises a control device, arranged to read a respective measurement value from the sensor means for each of the measurement locations and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values.

The technology disclosed addresses these problems by providing a strengthening glove and a control system for adaptive control using, for example, software programs and/or algorithms initiated using sensor measurement values and input from the same sensor locations that are used in a feedback loop in order to perform the strengthening action of the glove, as well as a method implementing such functionality. ln embodiments, the strengthening glove and control system is configured to adaptively and automatically adjust and control, for the next or a subsequent gripping movement, the relationship between the machine output force for the respective at least one glove ﬁnger and the at least one sensor input force based on sensor measurement values obtained during at least one previous gripping movement. ln embodiments, the method further comprising adaptively determining, by the control device and for the next gripping movement, the maximum machine output force applied to the respective at least one glove ﬁnger by at least one of the at least one actuating means, wherein the maximum machine output 16 force applied to the respective at least one glove ﬁnger for the next gripping movement is determined based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement. ln different embodiments, the adaptively and automatically adjusted and controlled relationship may include parameter values or a function determining at least one of the slope of the up-ramp determining the increasing machine output force applied via the at least one actuating means as a function of increasing sensor input force detected, an activation threshold value for the sensor input force below which no machine output force is applied to the respective at least one glove ﬁnger, a saturation threshold value for the sensor input force above which a maximum machine output force for the respective at least one glove ﬁnger is applied, and the magnitude of the maximum machine output force applied to the respective at least one glove finger via at least one of the at least one actuating means. ln embodiments, an adjustment to the relationship between the detected at least one sensor input force and the machine output force applied to the respective at least one glove ﬁnger, e.g. parameter values for controlling the applied machine output force, may be determined by the software and algorithms of a glove-external control system based on sensor measurement data obtained by the at least one sensor means of the glove during the at least one previous gripping movement. The adjustment to the relationship determined by the glove-external control system, e.g. a remotely-located control system, may then be adaptively introduced and implemented by the control system of the glove before the next, subsequent of future gripping movement, or may be introduced and implemented by the control system of the glove essentially in real-time during the next, subsequent of future gripping movement. ln embodiments, the control system may be further configured to determine and the control, for the next, a subsequent or future gripping movement, the machine output force applied as a function of detected sensor input force in accordance with a determined relationship between a detected sensor input force value and the machine output force applied via the at least one actuating means, where the determined function is based on sensor measurement values for the sensor input force which are detected during at least one previous gripping movement. ln embodiments, the control system may be further conﬁgured to determine and then control, for the next, a subsequent or future gripping movement, the machine output force applied from detected sensor measurement values for the sensor input force where the relationship is automatically changed between gripping movements by adjusting the values of parameters determining the relationship between the detected at least one sensor input force value and the machine output force applied to the respective at 17 least one glove ﬁnger via the at least one actuating means, where the adjustments to the parameter values is based on sensor measurement values for the at least one sensor input force which are detected during at least one previous gripping movement. ln embodiments, the technology disclosed relates to a strengthening glove and a control system for a strengthening glove comprising at least one glove ﬁnger, which control system is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which control system comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove ﬁnger, a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which the gripping movement is applied, which control system further comprises at least one actuating means arranged to impart a machine output force to a respective one of the glove ﬁngers, so that the gripping movement from the force applied by the corresponding human ﬁnger wearing the glove ﬁnger in question is ampliﬁed by the imparted machine output force, which control system further is arranged to read a respective measurement value from the sensor means for each of the at least one measurement location, and to adaptively determine relationship between the machine output force applied and the sensor input force based on sensor measurement values obtained during at least one previous gripping movement, and then control the respective machine output force applied to the respective at least one glove ﬁnger by the at least one actuating means for the next gripping movement in accordance with the determined relationship between the machine output force applied and the at least one sensor input force. ln certain embodiments, the technology disclosed relates to a strengthening glove and a control system for a strengthening glove with at least one glove ﬁnger, which control system is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which control system comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove ﬁnger, a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which the gripping movement is applied, which control system further comprises at least one actuating means arranged to impart a machine output force to a respective one of the glove fingers, so that the force applied by the corresponding human finger wearing the glove ﬁnger in question is ampliﬁed by the imparted machine output force, which control system further is arranged to read a respective measurement value from the sensor means for each of the at least one measurement location, and to adaptively determine the machine output force applied as a function of the sensor input force based on 18 sensor measurement values obtained during at least one previous gripping movement, and then control the respective machine output force applied by the at least one actuating means for the next or a subsequent gripping movement in accordance with the determined machine output force applied as a function of the sensor input force. ln certain aspects, the technology disclosed relates to improvements in the ﬁrmware regarding algorithms which detect the user's intentions of grasping, holding, and releasing an object to be able to respond quickly to the user's actions. The strengthening glove of the technology disclosed typically consists of a glove with artificial tendons running through ducts or sown into the ﬁngers, which are connected to a power unit.

The power unit contains actuators which pull on the artiﬁcial tendons to strengthen a movement imparted by the user, e.g. a gripping movement. When the system is in the starting state the actuators are typically at the end position which give the maximum slack of the artiﬁcial tendons. This will be referred to as the lower end position. As the actuators move to tighten the tendons, they move in the positive direction. This of course typically implies a positive rotation of the motors, in response to a positive applied voltage.

The strengthening glove according to the technology disclosed is equipped with at least one sensor means including, e.g., pressure sensors, force sensors and/or strain sensors arranged in the glove ﬁngers. The sensor means are used to sense the sensor input force when the user grasps an object and, when the glove is providing assistance, the combined grasping force of the user and the machine output applied by the control system via its actuating means. ln embodiments, the adaptive sensitivity introduced by the technology disclosed may enable the automatic adjustment of at least one parameter value determining a relationship between the machine output force applied and the detected sensor input force which is determined based on sensor measurement values obtained during at least one previous gripping movement and which are reﬂecting the intention of the user wearing the strengthening glove during that previous gripping movement. ln embodiments, the adjustment of the at least one parameter value determining the relationship between the machine output force applied and the sensor input force for the next gripping movement may be determined based on sensor measurement values read or obtained during a plurality of gripping movements. ln certain embodiments, weighting factors may be used for the plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a 19 greater impact on the determining of the relationship betvveen the machine output force applied and the detected sensor input force than the impact of a gripping movement performed earlier than the immediately preceding gripping movement.

The strengthening glove and the control system of the technology disclosed may be conﬁgured to learn within which sensor input force values to operate and apply a machine output force via the at least one actuating means. The strengthening glove and the control system may also be configured to adjust or change the activation threshold value, the saturation threshold value and/or the maximum machine output force applied for the next gripping movement based on already obtained and stored sensor measurement values, e.g. based on the range of sensor measurement values detected for the at least one sensor input force and which are obtained for at least one previous movement, e.g. gripping movement.

As mentioned above, the at least one sensor means are used to sense or detect the sensor input force or pressure when the user grasps an object and, when the glove is providing assistance, the combined grasping force of the user and the system. According to the technology disclosed, the relationship between the machine output force and the sensor input force for the next or a subsequent gripping movement may be determined based on the sensed or detected sensor input force when the user grasped an object during at least one previous gripping movement and, when the glove was providing assistance, the sensed or detected combined grasping force of the user and the system during the at least one previous gripping movement.

This implies that the strengthening glove and control system of the technology disclosed may learn about the intentions and behaviour of the user of the glove and, based on sensor measurement values obtained during at least one previous gripping movement, automatically adjust within which range of sensor input force to apply a machine output force via the actuating means. The control system may also be configured to automatically adjust the magnitude of the applied machine output force, including the maximum machine output force, based on previously obtained sensor measurement values for the sensor input force. The range of obtained sensor measurement values for the sensor input force may be affected by many factors including the varying nature of the tasks performed (e.g. gripping movement tasks), the response sensitivity of the at least one sensor of the at least one sensor means, the type of protective glove used and the anatomy of the hand of the user wearing the strengthening glove.

The varying nature of the tasks performed which determines the range of obtained sensor measurement values for the sensor input force include that some tasks during certain periods involve application of significantly higher forces to properly execute the tasks, while for other tasks the force range is lower and/or smaller. The response sensitivity of the at least one sensor, i.e. the magnitude of the electrical signal generated by the sensor in response to the pressure or force applied to the sensor, may depend on the sensor technology used and the physical and electrical properties of the individual sensor unit used, including that the response sensitivity of the sensors typically decreases over time. Moreover, different protective gloves have different physical and mechanical properties, which leads to that the force transmission through the protective glove may vary that, in turn, typically causes the sensor input force range to vary with the type of protective glove used. A thick and hard glove generally gives a low sensor input range. All of the above factors may have an impact on the range of sensor measurement values obtained during a gripping movement which, in turn, impact the adaptive control and the determining of the relationship betvveen the machine output force and the sensor input force, e.g. the determining of the machine output force as a function of the sensor input force.

All of the above-mentioned factors may thus have an impact on the sensor measurement values obtained during the previous at least one gripping movement and on which the determining of the relationship between the machine output force applied and the sensor input force detected is based upon.

The advantages of the technology disclosed include that the use of adaptive sensitivity control takes into account all of the above impact factors when automatically adjusting, for the next or a subsequent gripping movement, the relationship between the machine output force applied and the sensor input force detected. As an example, the strengthening glove and the control system of technology disclosed may cover all of these impact factors when determining, e.g. adjusting or changing, a function or parameter values determining at least one of the inclination of the up-ramp function/slope, the activation threshold value, the saturation threshold value and/or the maximum machine output force for the next or a subsequent gripping movement in that the determining of these parameter values is based on and dependent on actual sensor measurement values read or obtained during at least one previous gripping movement.

Another key aspect is the force in the glove's artiﬁcial tendons, which plays an important role in detecting the user's intention to release the grasp. ln this disclosure, the word 'force' will generally mean the force or pressure measured by the at least one sensor means, including e.g. pressure sensors or force sensors, while the word 'tension' will be used for the force in the tendons. 21 Example embodiments of the strengthening glove according to the technology disclosed may use custom-made tension sensors to measure the tension in the artiﬁcial tendons. However, in other embodiments of the technology disclosed, these tension sensors are replaced by a model-based estimation of the tension in the artiﬁcial tendons. The use of a model-based estimation of the tension in the artificial tendons typically lead to signiﬁcant cost reductions as well as increased robustness of the system.

The adaptive sensitivity introduced by the technology disclosed, where adjustments of the relationship between the machine output force applied and the detected sensor input force is based on read or obtained sensor measurement data indicating the will of the user wearing the strengthening glove during previous glove movements, may typically also have a longer time horizon.

The strengthening glove and the control system of the technology disclosed may then be able and configured to learn within which sensor input force values to operate and apply a machine output force to the respective at least one glove ﬁnger via the at least one actuating means, but may also be configured to adjust or change the activation threshold value, the saturation threshold value and/or the maximum machine output force applied for the next gripping movement based on the range of sensor measurement values detected for the at least one sensor input force and which are obtained for a plurality of previous movements, e.g. gripping movements.

As an example, the machine output force applied to the respective at least one glove finger via the at least one actuating means for the next gripping movement as a function of read sensor measurement values may be determined based on several previously determined ranges of sensor measurement values for the at least one sensor input force, activation threshold values, saturation threshold values and/or the maximum machine output force applied for a plurality of previous gripping movements performed over a longer period.

As an example, the strengthening glove and the control system of the technology disclosed may then be able and conﬁgured to learn a behaviour of the user of the glove and continuously update or adjust, for the next gripping movement, the relationship betvveen the machine output force applied to the respective at least one glove ﬁnger via the at least one actuating means for the next gripping movement as a function of read sensor measurement values, e.g. the inclination of the up-ramp slope, the activation threshold value, the saturation threshold value and/or the maximum machine output force applied for the next gripping movement. 22 All figures share the same reference numerals for similar or corresponding parts.

Figure 1 illustrates a human hand 10 wearing a strengthening g|ove 100 according to an embodiment of the technology disclosed. The strengthening g|ove 100 comprises a control system 200, also according to the technology disclosed.

Furthermore, the g|ove 100 comprises at least one g|ove ﬁnger. ln ﬁgure 1, ﬁve g|ove fingers 101 -105 are illustrated, for exemplifying purposes. The g|ove 100 is arranged to strengthen a movement, e.g. a gripping movement, performed by the human hand 10 wearing the g|ove. The control system 200 also comprises at least one actuating means 240 (generally indicated in ﬁgure 1), arranged to impart a force to a respective one of the g|ove fingers 101-105. The actuating means 240 in this example embodiment is arranged on the top of the arm/hand. ln other embodiments of the technology disclosed, the actuating means 240 may be arranged in other locations such as on the back of the user or on the inside of the user's arm (Figure 2).

Figure 2 illustrates a human hand 10 wearing a strengthening g|ove 100 according to another example embodiment of the technology disclosed. Figure 2 shows the sensor means 210 arranged on the palm side of the g|ove fingers. ln the example embodiment illustrated in Figure 2, the actuating means 240 is arranged on the inside of the user's arm. ln order for the g|ove 100 and control system 200 to be able to control the machine output force of at least one actuating means 240 using a force strengthening feedback loop, the control system 200 comprises at least one sensor means 210 arranged to detect, in at least one measurement location on the palm 106 side of the at least one g|ove fingers 101-105, a respective force between a respective human ﬁnger 11-15 wearing the respective g|ove finger 101-105 and a respective contact surface onto which the gripping movement is applied, at the respective at least one measurement location for the sensor means 210. ln different example embodiments of the technology disclosed, several measurement locations may be arranged on the palm side of the hand, on one single ﬁnger and/or on different ﬁngers.

The control system 200 according to the technology disclosed also comprises at least one actuating means 240 (generally indicated in figure 1), arranged to impart a force to a respective one of the g|ove ﬁngers 101-105, so that the movement imparted by the corresponding human ﬁnger 11-15 wearing the g|ove ﬁnger 101-105 is strengthened in its movement, e.g. gripping movement. The force applied by the corresponding human ﬁnger 11-15 wearing the g|ove finger 101-105 is then ampliﬁed by the machine 23 output force imparted by the actuating means 240 to thereby strengthen the movement, e.g. gripping movement, imparted by the force applied by the corresponding human ﬁnger 11-15. ln the ﬁgures, one and the same actuating means 240 is arranged to impart respective such forces to each one of the ﬁve ﬁngers 101-105. However, it is realized that according to different embodiments of the technology disclosed, several actuating means may be used in parallel, for instance each operating on one ﬁnger each, and/or there may be less than ﬁve controlled glove fingers 101-105. More than one actuating means 240 may also operate on one single ﬁnger, such as one actuating means 240 being arranged to extend or open the glove ﬁnger 101-105 and one actuating means 240 being arranged to strengthen a movement imparted by the finger in question. A combination of the above is also possible.

The control system 200 is arranged to read a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location, and to apply a machine output force to the respective at least one glove ﬁnger 101-105 via the actuating means 240 as a function of read or obtained sensor measurement values.

According to the technology disclosed, the control system 200 may be further configured to determine and/or control the relationship between a sensor input force detected by the at least one sensor means 210 and the machine output force applied to the respective at least one glove finger 101-105 by the at least one actuating means 240 for the next gripping movement based on sensor measurement values read or obtained during at least one previous gripping movement. ln embodiments, the control system 200 may be conﬁgured to determine and/or control, for a subsequent or future gripping movement, the machine output force applied to the respective at least one glove finger 101-105 by the at least one actuating means 240 as a function of read sensor measurement values based on sensor measurement values read or obtained during at least one previous gripping movement.

The control system 200 may then typically be arranged to read or obtain a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location during at least one gripping movement, and to adaptively determine and/or control the respective machine output force applied to the respective at least one glove finger 101-105 via the actuating means 240 to each controlled ﬁnger 101-105 for the next, a subsequent or future gripping movement as a function of read sensor measurement values based on sensor measurement values obtained during the at least one previous gripping movement. ln embodiments, the control system 200 may typically comprise a control device 230, connected to the actuating means 240. As such, the control device 230 may comprise, or has access to, operating logic 24 deﬁning means for controlling the machine output force of the at least one actuating means as a function using a force strengthening feedback loop. For instance, such logic may be implemented in mechanics comprised in the control device 230, but preferably the control device 230 comprises electronic hardware circuitry and/or, preferably, a digital processor programmed with software configured for adaptively determining the relationship between a sensor input force detected by the at least one sensor means 210 and the machine output force of the at least one actuating means for the next or a subsequent gripping movement based on the sensor measurement values read from the at least one sensor means during at least one previous gripping movement.

To be specific and in embodiments, the control device 230 may typically be arranged to read a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location during at least one gripping movement, and to adaptively control the respective machine output force applied via the actuating means 240 to each controlled finger 101-105 for a subsequent gripping movement as a function of read sensor measurement values based on sensor measurement values obtained during at least one previous gripping movement. The at least one sensor means 210 may then be connected to the control device 230, for instance via electric cables (not shown in the ﬁgures).

The actuating means 240 may be conventional as such, for instance strengthening ﬁnger 11-15 movement via artiﬁcial tendons 250 (see below), pulling on the glove 100 ﬁngers 101-105, by pulling the artiﬁcial tendons 250 via an electrical motor.

Hence, the control may be performed using a software program, which comprises or is constituted by a force strengthening feedback loop, in turn based upon the sensor measurement values as input parameters. ln other words, the control device 230 receives current sensor measurement values, performs calculations with these values as input parameters, and controls the actuating means 240 based upon output values of the calculations so as to achieve and apply a machine output force effectively strengthening or amplifying a gripping motion performed by the hand 10 wearing the glove 100.

However, according to embodiments of the technology disclosed, the control device 230 of the control system 200 may be further arranged to automatically and adaptively adjust, for the next or subsequent gripping movement, the machine output force applied by the at least one actuating means as a function of the sensor input force detected by the at least one sensor means based on sensor measurement values obtained during at least one previous gripping movement. lt is important to understand that the term "software program" herein refers to the algorithm used to, based upon read sensor means 210 measurement values, calculate control data for controlling the actuating means 240, as opposed to the actual current control state fed to the actuating means 240. For example, merely the fact that a particular glove 100 finger 101-105 at a particular instant is bent with, say, a force of 0.1 N, as the corresponding ﬁnger 11-15 is currently pressed against a particular surface, does not constitute a "software program" in the present sense. lnstead, a "software program" rather prescribes how to calculate an appropriate machine output force (or any other actuating means 240 control parameter) based upon a given set of sensor measurement data from the sensor means 210, producing variable control parameters based upon variable sensor input data, according to a certain set of logical rules. Hence, under one particular software program, different actuating means 240 control will typically result based upon different sensor input detected by the at least one sensor means 210.

Herein, the term "measurement location" refers to a location where the said force is measured using the sensor means 210. Such a measurement location may be point-like or have a certain surface extension.

According to embodiments, the sensor measurement values from the at least one measurement location are used as an input parameter into a control program. ln embodiments, all measurement locations are such measurement locations, being used in the control program.

According to embodiments of the technology disclosed, the control system is further conﬁgured to adaptively adjust, for the next or a subsequent gripping movement, the relationship between the sensor input force and the machine output force comprises, in addition to the sensor measurement values obtained during at least one previous gripping movement, partly based on a measured angle or position of at least one glove 100 finger 101-105, as measured by the control device 230. For instance, in order for the control system 200 to adaptively control the relationship between the sensor input force and the machine output force, in addition to the sensor measurement values obtained from the at least one sensor means 210 during at least one previous gripping movement, the control device 230 is further conﬁgured to sense one or several particular glove 100 fingers 101-105 to be in a respective particular predetermined position or angle.

The technology disclosed provides for a glove 100 which provides more efﬁcient and more suitable aid to the user across a much broader spectrum of circumstances than has previously been the case. lt is realized that the sensor means 210 may be in the form of one and the same sensor, e.g. pressure sensor or force sensor, arranged to measure pressure and/or force at several such locations, even 26 along a continuous surface, of the glove 100 fingers 101-105. However, it is preferred that the sensor means 210 comprises at least two distinct sensors, e.g. at least two pressure sensors and/or force sensors, in turn arranged at the respective measurement locations and connected to a central processing unit, or directly to the control device 230. ln the figures, the sensor means 210 comprises one such respective sensor for each measurement location.

Preferably, the above-mentioned control program is arranged to implement the feedback loop as described above, possibly in a way which is conventional as such. ln another preferred embodiment, the control program comprises applying a machine output force to at least one glove 100 finger 101-105. ln the embodiment illustrated in figure 1, the actuating means 240 operating on at least one glove 100 ﬁnger 101-105 comprises a respective artiﬁcial tendon 250 connected to the glove 100 ﬁnger 101-105, at respective fastening points, which artiﬁcial tendon 250 is arranged to strengthen a movement imparted by the respective ﬁnger 101-105 by the control device 230 applying, via the machine output force applied by the actuating means 240, a respective pulling force to the respective artiﬁcial tendon 250 and as a result also to the respective glove ﬁnger 101-105. The control device may comprise a power unit (not shown) and the artiﬁcial tendon can be attached to the control device 230, e.g. the power unit, via conventional Bowden cables 330. ln embodiments, the actuating means 240 may comprise a mechanism such as a worm driven screw, which is used to impart the pulling force and to adjust the length of the artificial tendon 250. The fastening points may also provide a respective slidable engagement with the artiﬁcial tendons 250.

Figure 3 illustrates the method steps of a method according to embodiments of the technology disclosed for operating a strengthening glove 100 of the type described above. ln a preferred step 301, the glove 100 is provided, comprising a control system 200 including a control device 230 arranged to read respective sensor measurement values from at least one sensor means 210 for each of at least one measurement location and to control the respective machine output force applied by at least one actuating means 240 using a force strengthening feedback loop based upon the sensor measurement values. This step may comprise providing the glove 100 to a user. ln a step 302, the control device 230 reads the measurement values from at least one of the at least one sensor means 210 during at least one gripping movement, also as described above. 27 ln a step 303, the control device 230 determines, for the next or a subsequent gripping movement, the relationship between the sensor input force detected the at least one sensor means and the machine output force to be applied by the control system 200 via the at least one actuating means 240. The determining of the relationship in step 303 is based on, or in response to, the sensor measurement values obtained from the at least one sensor means 210 in step 302. ln step 302, the relationship between the sensor input force detected by the at least one sensor means 210 and the machine output force to be applied by the control system 200 via the at least one actuating means 240 may be adjusted based on, or in response to, the sensor measurement values obtained during the at least one previous gripping movement in step 302. ln a step 304, the control device 230 is controlling, for the next or subsequent gripping movement, the machine output force applied via the at least one of the at least one actuating means 240 in accordance with the, in step 303, determined, e.g. adjusted, relationship betvveen the sensor input force detected and the machine output force applied.

Hence, the control device 230 of the control system 200 causes the actuating means 240 to be controlled according to the determined relationship in step 303, thereby the strengthening glove 100 and its control system 200 is conﬁgured to automatically and adaptively adjust and control the relationship betvveen the sensor input force detected by at least one of the at least one sensor means 201 and the machine output force applied via the actuating means 240 based on previously obtained sensor measurement values for the input sensor force.

Figure 4 illustrates an example of the machine output force applied by the actuating means of a strengthening glove as a function of the sensor input force(s) detected by the sensor means of the strengthening glove, i.e. illustrating the relationship between the at least one sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove finger by the at least one actuating means. "T - Output" on the y-axis is the applied machine output force and "F - lnput" on the x-axis is the detected sensor input force. Thus, an obtained at least one sensor measurement value for the sensor input force F - lnput will result in an applied machine output force T - Output.

"T_max" in Figure 4 is maximum machine output force applied, "dz" is the threshold value for the sensor input force below which no machine output force is applied and "s" is the slope of the curve or up-ramp deﬁning the sensitivity of the strengthening glove, i.e. the relationship between the sensor input force 28 detected and the machine output force applied by the control system via its actuating means above the threshold value dz but below a sensor input force when a maximum machine output force is applied. ln the example illustrated in Figure 4, the machine output force applied is a linear function of the sensor input force in the sensor range. However, in other examples, the machine output force applied by the actuating means of a strengthening glove may be a non-linear function of the sensor input force detected in the sensor range between the threshold value dz and the smallest sensor input force above which a maximum machine output force T_max is applied. ln general, the above-described examples are freely combinable as applicable.

Hence, the invention is not limited to the said embodiments, but can be varied across the full scope of the enclosed claims. ln embodiments, the control system is conﬁgured to determine and store the range of obtained sensor measurement values for a plurality of previous gripping movements and adaptively determine and adjust the machine output force of the at least one actuating means as a function of the sensor input force based on the stored range of obtained sensor measurement values for the plurality of previous gripping movements. ln embodiments, the control system is conﬁgured to determine the range of obtained sensor measurement values for the plurality of previous gripping movements by applying a lowpass ﬁlter and then determine and adjust the relationship between the sensor input force and the machine output force applied to the respective at least one glove ﬁnger via the at least one actuating means for the next gripping movement based on the determined range of sensor measurement values. ln embodiments, the control system is configured to adaptively determine and adjust, for the next gripping movement, the activation threshold value for the sensor input force below which no machine output force is applied to the respective at least one glove finger by the at least one actuating means, and wherein the activation threshold value is determined based on sensor measurement values read from the sensor means during at least one previous gripping movement. ln embodiments, the control system is conﬁgured to adaptively determine, for the next gripping movement, the maximum machine output force applied by at least one of the at least one actuating means, and wherein the maximum machine output force applied is determined based on sensor 29 measurement values read from the at least one sensor means during at least one previous gripping movement. ln embodiments, the control system is conﬁgured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust the relationship between the sensor input force and the machine output force to be applied to the respective at least one glove ﬁnger based on the stored sensor measurement values obtained during a plurality of previous gripping movements. ln embodiments, the control system of the strengthening glove is conﬁgured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust, for the next gripping movement and based on the stored sensor measurement values, at least one of: the slope of the up-ramp determining the increasing machine output force applied to the respective at least one glove finger by the at least one actuating means as a function of increasing sensor input force detected, an activation threshold value for the sensor input force below which no machine output force is applied to the respective at least one glove ﬁnger, a saturation threshold value above which a maximum machine output force is applied to the respective at least one glove ﬁnger, and a maximum machine output force applied to the respective at least one glove ﬁnger, by at least one of the at least one actuating means. ln aspects, the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied, which glove further comprises at least one actuating means arranged to impart a force to a respective at least one of the glove fingers, which glove further comprises a control device, arranged to read respective sensor measurement values from the at least one sensor means for each of the at least one measurement location and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values, characterised in that the method comprises the steps of a) reading, by the control device, sensor measurement values from the at least one sensor means during at least one gripping movement; b) determining, by the control device and for the next gripping movement, the relationship between the sensor input force detected by the at least one sensor means and the machine output force to be applied to the respective at least one glove finger by the at least one actuating means based on the sensor measurement values read from the at least one sensor means during the at least one gripping movement; and c) controlling, by the control device and for the next gripping movement, the machine output force applied to the respective glove ﬁnger by at least one of the at least one actuating means, wherein the applied machine output force is in accordance with the determined relationship between the sensor input force detected and the machine output force. ln embodiments, the method further comprising storing, by the control device, sensor measurements values obtained during the at least one previous gripping movement, and automatically determining and adjusting, for the next gripping movement and based on the stored sensor measurement values, the relationship between the sensor input force detected by the at least one sensor means and the machine output force applied to the respective glove ﬁnger. ln embodiments, the method further comprising adjusting, by the control device and for the next gripping movement, the slope of the up-ramp determining the increasing machine output force applied by the at least one actuating means as a function of increasing sensor input force detected by the at least one sensor means, wherein the up-ramp slope is determined based on sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. ln embodiments, the method further comprising determining, by the control device, the range of obtained sensor measurement values for a plurality of previous gripping movements, and adaptively adjusting, by the control device and for the next gripping movement, the slope or function of the up- ramp determining the increasing machine output force applied to the respective at least one glove finger as a function of increasing sensor input force detected by the at least one sensor means for the next gripping movement, where the determining of the slope or function is based on the range of obtained sensor measurement values for the plurality of previous gripping movements. ln embodiments, the method further comprising determining, by the control device, the range of obtained sensor measurement values for the plurality of previous gripping movements by applying a lowpass filter, and then adjusting, by the control device, the slope or function of the up-ramp for the respective at least one glove finger and for the next gripping movement, where the adjustment is based on the determined range of sensor measurement values. ln embodiments, the method further comprising adaptively determining, by the control device and for the next gripping movement, the maximum machine output force applied to respective at least one glove 31 ﬁnger by at least one of the at least one actuating means, wherein the maximum machine output force applied to the respective at least one glove ﬁnger is determined based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement.

Claims

1.A strengthening glove with at least one glove ﬁnger and comprising a control system arranged to strengthen a gripping movement performed by a human hand wearing the strengthening glove and comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of said at least one glove ﬁnger, a respective force between a respective human ﬁnger wearing the respective glove ﬁnger and a respective contact surface onto which said gripping movement is applied, said control system further comprises at least one actuating means arranged to impart a force to a respective at least one of said glove fingers and a control device arranged to read respective sensor measurement values from the at least one sensor means for each of said at least one measurement location, wherein said control system is configured to control the machine output force of said at least one actuating means using a force strengthening feedback loop based upon said sensor measurement values, and wherein said control system is further conﬁgured to adaptively determine the relationship betvveen the at least one sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove finger by the at least one actuating means and for the next gripping movement based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement.

2.The strengthening glove according to any of the preceding claims, wherein said control system is further conﬁgured to store sensor measurement values obtained during at least one previous gripping movement and automatically determine and adjust, for the next gripping movement and based on said stored sensor measurement values, the relationship between the sensor input force and the machine output force applied to the respective at least one glove ﬁnger as a function of the stored sensor measurement values.

3.The strengthening glove according to any of claims 1 and 2, wherein said control system is further conﬁgured to adaptively determine and adjust, for the next gripping movement, at least one parameter value determining at least one of an activation threshold value for the sensor input force below which no machine output force is applied to the respective at least one glove ﬁnger, a saturation threshold value above which a maximum machine output force is applied tothe respective at least one glove ﬁnger, and the magnitude of a maximum machine output force applied to the respective at least one glove ﬁnger.

4.The strengthening glove according to any of c|aims 1 to 3, wherein said control system is configured to adaptively determine and adjust, for the next gripping movement, a sensitivity parameter value determining the machine output force applied to the respective at least one glove ﬁnger as a function of the sensor measurement values obtained from the at least one sensor means, wherein said control system is further conﬁgured to determine the sensitivity parameter value based on the sensor measurement values read from the at least one sensor means during the at least one previous gripping movement.

5.The strengthening glove according to any of c|aims 1 to 4, wherein said control system is conﬁgured to adaptively determine and adjust, for the next gripping movement, the machine output force applied to the respective at least one glove ﬁnger as a function of the at least one sensor input force based on sensor measurement values read from the sensor means during at least one previous gripping movement.

6.The strengthening glove according to claim 5, wherein said control system is conﬁgured to determine and store the range of obtained sensor measurement values for a plurality of previous gripping movements and adaptively determine and adjust the machine output force to be applied to the respective at least one glove finger as a function of the at least one sensor input force based on the stored range of obtained sensor measurement values for the plurality of previous gripping movements.

7.The strengthening glove according to claim 6, wherein said control system is conﬁgured to determine the range of obtained sensor measurement values for the plurality of previous gripping movements by applying a lowpass filter and then determine and adjust the relationship betvveen the at least one sensor input force and the machine output force to be applied to the respective at least one glove ﬁnger for the next gripping movement based on the determined range of sensor measurement values.

8.The strengthening glove according to any of the preceding c|aims, wherein said control system is conﬁgured to adaptively determine and adjust, for the next gripping movement, the activation threshold value for the at least one sensor input force below which no machine output force to the respective at least one glove ﬁnger, and wherein said activation threshold value is determined based on sensor measurement values read from the sensor means during at least one previous gripping movement.

9.The strengthening glove according to any of the preceding claims, wherein said control system is conﬁgured to adaptively determine, for the next gripping movement, the maximum machine output force applied to the respective at least one glove ﬁnger, and wherein said maximum machine output force applied is determined based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement.

10.The strengthening glove according to any of the preceding claims, wherein said control system is configured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust the relationship betvveen the at least one sensor input force and the machine output force to be applied to the respective at least one glove ﬁnger based on said stored sensor measurement values obtained during a plurality of previous gripping movements.

11.The strengthening glove according to claim 10, wherein said control system is configured to apply individual weighting factors to the plurality of previous gripping movements that determine the plurality of previous gripping movements relative impact on the determining, for the next gripping movement, the relationship betvveen the machine output force applied and the detected sensor input force.

12.The strengthening glove according to claim 11, wherein said control system is conﬁgured to apply individual weighting factors to the plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a greater impact on the determining of the relationship betvveen the machine output force applied and the detected sensor input force than the impact of a gripping movement performed earlier than the immediately preceding gripping movement.

13.The strengthening glove according to any of the preceding claims, wherein said control system is configured to store sensor measurement values obtained during a plurality of previous gripping movements and automatically determine and adjust, based on said stored sensor measurement values, at least one of: the slope of the up-ramp determining the increasing machine output force applied to the respective at least one glove ﬁnger by the at least one actuating means as a function of increasing sensor input force detected, an activation threshold value for the at least one sensor input force below which no machine output force is applied to the respective at least one glove ﬁnger, a saturation threshold value above which a maximum machine output force is applied to the respective at least one glove ﬁnger, and a maximum machine output force applied to the respective at least one glove ﬁnger for the next gripping movement.

14. Method for operating a strengthening glove with at least one glove ﬁnger and comprising a control system arranged to strengthen a gripping movement performed by a human hand wearing the strengthening glove and comprises at least one sensor means arranged to detect, in at least one measurement location on the palm of the hand and/or the palm side of said at least one glove finger, a respective force between a respective human finger wearing the respective glove ﬁnger and a respective contact surface onto which said gripping movement is applied, said control system further comprises at least one actuating means arranged to impart a force to a respective at least one of said glove ﬁngers and a control device arranged to read respective sensor measurement values from the at least one sensor means for each of said at least one measurement location, wherein said control system is configured to control the machine output force of said at least one actuating means using a force strengthening feedback loop based upon said sensor measurement values, the method comprising the steps of a) reading, by the control system, sensor measurement values from the at least one sensor means during at least one gripping movement; b) determining, by the control system and for the next gripping movement, the relationship between at least one sensor input force detected by the at least one sensor means and the machine output force to be applied to the respective at least one glove finger by the at least one actuating means based on the sensor measurement values read from the at least one sensor means during the at least one gripping movement; and c) controlling, by the control system and for the next gripping movement, the machine output force to be applied to the respective at least one glove finger by at least one of the at least one actuating means in accordance with said determined relationship between the at least one sensor input force detected and the machine output force to be applied to the respective at least one glove ﬁnger. The method according to c|aim 14, further comprising storing, by the control device, sensor measurements values obtained during the at least one previous gripping movement, and automatically determining and adjusting, based on said stored sensor measurement values, the relationship betvveen the at least one sensor input force detected by the at least one sensor means and the machine output force applied to the respective glove finger for the next gripping movement. The method according to any of c|aim 14 and 15, further comprising adjusting, by the control device and for the next gripping movement, the slope of the up-ramp determining the increasing machine output force applied to the respective glove finger as a function of increasing at least one sensor input force detected by the at least one sensor means, wherein the up-ramp slope is determined based on sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. The method according to any of claims 14 to 16, said method comprising storing, by the control system, sensor measurement values obtained during a plurality of previous gripping movements, and automatically determining and adjusting, by the control system, the relationship betvveen the at least one sensor input force and the machine output force to be applied to the respective at least one glove ﬁnger based on said stored sensor measurement values obtained during a plurality of previous gripping movements. The method according to c|aim 17, said method comprising applying, by the control system, individual weighting factors to the plurality of previous gripping movements that determine the plurality of previous gripping movements relative impact on the determining, for the next gripping movement, the relationship between the machine output force applied and the detected sensor input force. The method according to c|aim 18, said method comprising applying, by the control system, the individual weighting factors to the plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a greater impact on the determining of the relationship betvveen the machine output force applied and the detected sensor input force than the impact of a gripping movement performed earlier than the immediately preceding gripping movement. The method according to any of claims 14 to 19, further comprising determining, by the control device, the range of obtained sensor measurement values for a plurality of previous gripping movements, and adaptively adjusting, by the control device, the slope of the up-ramp determining the increasing machine output force applied to the respective glove ﬁnger as a function of increasing sensor input force detected by the at least one sensor means for the next gripping movement based on the range of obtained sensor measurement values for the plurality of previous gripping movements. The method according to claim 20, further comprising determining, by the control device, the range of obtained sensor measurement values for the plurality of previous gripping movements by applying a lowpass filter, and then adjusting, by the control device, the slope of the up-ramp for the next gripping movement based on the determined range of sensor measurement values. The method according to any of claims 14 to 21, further comprising adaptively determining, by the control device and for the next gripping movement, the maximum machine output force applied to the respective glove ﬁnger, wherein the maximum machine output force is determined based on sensor measurement values read from the at least one sensor means during at least one previous gripping movement. The method according to any of claims 14 to 21, further comprising automatically and adaptively adjusting, for the next gripping movement and by said control device based on said stored sensor measurement values obtained during a plurality of previous gripping movements, at least one of: the slope of the up-ramp determining the increasing machine output force applied to the respective glove ﬁnger by at least one of the at least one actuating means as a function of increasing sensor input force detected by at least one of the at least one sensor means, an activation threshold value for the at least one sensor input force below which no machine output force is applied, a saturation threshold value above which a maximum machine output force is to be applied to the respective glove ﬁnger, and a maximum machine output force to be applied to the respective glove ﬁnger by at least one of the at least one actuating means. The method according to any of claims 14 to 23, said method comprising adaptively determining, by the control device and for the next gripping movement, at least one parameter value determining at least one of an activation threshold value for the sensor input force below which no machine output force is applied to the respective glove ﬁnger, a saturation threshold value above which a maximum machine output force is applied to the respective glove ﬁnger, and a maximum machine output force applied to the respective glove finger for the next gripping movement, wherein said determining of the at least one parameter values is based on the sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. The strengthening glove according to any of claims 14 to 24, said method comprising adaptively determining, by the control device and for the next gripping movement, a sensitivity parameter value determining the machine output force applied to the respective glove finger as a function of the sensor measurement values obtained from the at least one sensor means, wherein said determining of the sensitivity parameter is based on the sensor measurement values read from the at least one sensor means during the at least one previous gripping movement. 39