WO2015174670A1 - Module d'actionneur de commande de force pour une structure d'exosquelette de main, et système d'exosquelette de main l'utilisant - Google Patents

Module d'actionneur de commande de force pour une structure d'exosquelette de main, et système d'exosquelette de main l'utilisant Download PDF

Info

Publication number
WO2015174670A1
WO2015174670A1 PCT/KR2015/004411 KR2015004411W WO2015174670A1 WO 2015174670 A1 WO2015174670 A1 WO 2015174670A1 KR 2015004411 W KR2015004411 W KR 2015004411W WO 2015174670 A1 WO2015174670 A1 WO 2015174670A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
driver
hand exoskeleton
force control
hand
Prior art date
Application number
PCT/KR2015/004411
Other languages
English (en)
Korean (ko)
Inventor
배준범
조인성
Original Assignee
국립대학법인 울산과학기술대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 국립대학법인 울산과학기술대학교 산학협력단 filed Critical 국립대학법인 울산과학기술대학교 산학협력단
Publication of WO2015174670A1 publication Critical patent/WO2015174670A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a force control driver module for a hand exoskeleton structure, in particular using a Series Elastic Actuator (SEA) mechanism, where the position of the finger link structure is measured by a potentiometer for the human side and the position of the actuator is a linear motor.
  • SEA Series Elastic Actuator
  • a force control driver module for a hand exoskeleton structure which is measured by a potentiometer embedded therein, and the transmitted force is controlled by a deflection of an elastic member such as a linear spring, thereby eliminating a separate force sensor.
  • exoskeleton system has been one of the areas of increasing interest for applications in rehabilitation or power increase, and active research is currently underway.
  • active research is currently underway.
  • interaction with virtual objects using exoskeleton interfaces has become one of the most promising applications of exoskeleton systems.
  • Many relevant studies attempting to achieve virtual reality, such as head mounted display (HMD) systems or tactile sensors, are also underway, which adds to the need for a hand wearable interaction system. .
  • HMD head mounted display
  • the present invention also began by proposing a compact driver module capable of accurately generating and controlling a predetermined force.
  • Small and force controllable actuator modules are essential in hand exoskeleton systems. Since the driver module largely determines the size and weight of the system and this has a great influence on the natural movements of the arms and fingers, the driver module should be as small and light as possible. In addition, when the user interacts with objects in the virtual world, the user understands the virtual environment and manipulates the objects based on the transmitted force information. Thus, force feedback from virtual objects is very important for hand exoskeleton systems. For force mode control, force sensors may be applied to the hand exoskeleton system, but conventional force sensors are very large and heavy, increasing the size and weight of the system.
  • the present invention is to provide a hand exoskeletal force control driver module that is compact enough to secure the natural movement of the hand and can accurately transfer a predetermined interaction force from the virtual object to the user. .
  • the force control driver module for a hand exoskeleton system comprises a first potentiometer configured to measure the position of the finger link structure; A second potentiometer configured to measure a position of the driver, the second potentiometer embedded in the driver; And an elastic member installed between the driver and the finger link structure, wherein the elastic member functions as a force sensor, and the force transmitted from the driver is measured by deflection of the elastic member. It is characterized by.
  • the elastic member is characterized in that the spring.
  • the spring is characterized in that it is designed based on the maximum grip force and the required actuator stroke.
  • the driver is selected from among the linearly movable drivers, for example, a linear motor, specifically a gear motor linearized by friction compensation. Can be.
  • This force control driver module may be configured to be installed per finger.
  • the force control driver for hand exoskeleton structure without the need for a separate force sensor, it is compact enough to ensure the natural movement of the hand and at the same time can accurately transfer a predetermined interaction force from the virtual object to the user Will create an effect.
  • FIG. 1 is a schematic diagram of a SEA mechanism applied to the present invention
  • FIG. 2 is a schematic diagram of a driver module according to an embodiment of the present invention.
  • FIG. 5 is an embodiment of the driver module manufactured by FIG.
  • FIG. 7 is a block diagram of a control algorithm according to an embodiment of the present invention.
  • FIG. 11 illustrates a hand exoskeleton device having a driver module according to an embodiment of the present invention, respectively.
  • the Series Elastic Actuator (SEA) mechanism is applied to the actuator module together with the electric motor to satisfy two requirements of compact size and force mode control.
  • the transmitted force is measured by the spring deflection between the driver and the human side.
  • the spring acts as a force sensor so that the size and weight of the driver module can be reduced.
  • the SEA mechanism is basically applied for compact design and accurate force mode control.
  • the force generated by the driver is transmitted via an elastic element, such as a spring, and the elastic element is installed between the human side and the driver.
  • the transmitted force is controlled by the spring deformation.
  • the SEA mechanism is as outlined in FIG. 1.
  • the transmission force, f is controlled by the following deformation of the spring.
  • the predetermined actuator position is the human joint movement and the given predetermined force Is determined as follows.
  • a predetermined driver position By controlling the motor position, a predetermined force can be generated accurately, so that the driver can interact with human motion by applying the appropriate interaction force according to Equation 1 above.
  • the SEA mechanism is applied to implement a force controllable driver module, a schematic of this driver module 10 is shown in FIG. 2.
  • the position of the finger linkage structure 20 (see FIG. 11) is measured by a first potentiometer 11 for the human side, the position of the driver being a second embedded in a linear motor 12 as an example thereof. It is measured by the potentiometer 13.
  • the transmitted force is controlled by the deformation of the linear spring 14 which is one example of the elastic means.
  • the hand exoskeleton system 100 Since the transmitted force is applied and measured using a linear spring deformation, the hand exoskeleton system 100 (see FIG. 11) does not require a separate force sensor. This mechanism results in a compact design of the driver module, and the sensitivity of the measuring force is easily controlled by the spring constant.
  • the linear spring plays a very important role in the force controllable actuator module according to the invention because the force is transmitted through the spring. Therefore, since the maximum force and sensitivity of the driver module are determined by the spring constant, the spring constant must be determined carefully.
  • the driver module must be able to generate a maximum grip force to apply any amount of interaction force from the virtual objects to the finger.
  • the grip force was experimentally measured by a Tekscan Grip sensor (Tekscan. Grip System. 2013. http://www.tekscan.com/.) As shown in FIG. Grip force measurements were performed by 7 participants (4 men, 3 women, age 24 ⁇ 4.3). They were asked to hold solid plastic cups of 6.4 cm diameter for 30 seconds, with each participant having five tests. Each finger average grip force was calculated for male and female participants and the experimental results are shown in FIG. 3 (b). The grip of the thumb was greatest for all participants, corresponding to about 8 N for men and about 6 N for women.
  • the linkage structure of the hand exoskeleton system has been designed by the inventors and the finger of such a system can be moved by a driver mounted on the back of the hand.
  • the simulation results also showed that the finger tip can be bent up to 80 degrees and hyper-extended to 30 degrees with a driver link motion of about 25 degrees.
  • a 25 degree rotational motion can be achieved by about 20 mm linear motion of the driver.
  • a linear motor with a stroke of about 20 mm is needed, which can make up to 20 mm deformation.
  • the spring constant required is about 0.3 to 0.4 N / mm.
  • the spring constant is calculated by
  • G is the modulus of rigidity
  • d is the diameter of the spring wire
  • D is the average diameter of the spring
  • n is the number of active coils.
  • the motor driver for controlling the linear motor is also compact enough and must be fitted to a small driver module.
  • the motor driver for the linear motor is designed manually as shown in FIG. Fig. 4A shows the circuit design for the driver, and Fig. 4B shows the motor driver actually manufactured.
  • the control input to the motor driver is converted to a PWM signal and a full H bridge circuit is applied for normal / reverse motion of the electric motor.
  • the size of the motor driver is 27 ⁇ 14 ⁇ 4 mm, which is small enough to be attached to the top of the linear motor.
  • the force controllable driver module has actually been manufactured.
  • a linear motor with 20 mm stroke, 9 N maximum force and 25 mm / sec speed was chosen as the main driver.
  • a linear spring designed by the variables in Table 1 was applied. Potentiometers for measuring finger motion were located on top of the driver module due to the limited space.
  • the motor driver was attached to the top of the motor and hidden by a manufactured cover to protect the electrical wires.
  • the structure in this embodiment is made of nylon using rapid prototyping technology, but it will be apparent to those skilled in the art that it is not necessarily limited to such materials and manufacturing techniques, so that within the same range Various alternatives are possible to achieve the action / effect of.
  • the size of the driver module is about 18 x 77 x 36 mm and the weight is about 30 g.
  • Electric motors are generally used with gear reducers to adjust power or speed ranges.
  • the gear reducer amplifies the output force, but this also increases the friction of the motor. If the gear ratio is so large that the geared motor is not back-drivable, friction must be properly compensated for natural human-robot interaction. Since friction in the motor corresponds to major nonlinearity, which hinders high control performance in position tracking, the force controllability of the actuator module of the present invention is drastically reduced without proper friction compensation.
  • a linear motor with a gear ratio of 30: 1 is used, and the friction of the motor cannot be ignored.
  • the friction model was experimentally identified. 6 shows experimentally secured control inputs at various speeds of the motor. Then, the friction is modeled by the following equation.
  • the linearized motor model by friction compensation was controlled by the PID controller. PID gains were tuned by experiment. 7 shows a control block diagram of the driver model.
  • the frequency response of the closed loop control system was experimentally obtained (see FIG. 8). As can be seen from the figure, the bandwidth frequency of the driver module is about 10 rad / sec. Considering the maximum speed of the linear motor, the experimental results indicate that the control algorithm guarantees the maximum performance of the motor.
  • the position tracking performance with the control algorithm according to the present invention has been experimentally verified.
  • 9 shows tracking performance with a 5 Hz frequency and sinusoidal trajectory of 5 mm size. Linear motors follow a given position well without a large tracking error.
  • the predetermined trajectory was set to the potentiometer signal on the human side and moved randomly.
  • Fig. 10 shows the results of experiments when the human side potentiometer moved arbitrarily. In any movement state, the tracking error is more irregular than in the case of a sinusoidal signal but it can be seen that the tracking error is less than 1 mm with a change of about 10 mm at a given position.
  • the driver module according to the invention is actually assembled to the hand exoskeleton structure.
  • the generated force is transmitted to the finger tip through the exoskeleton finger linkage structure 20.
  • the exoskeleton structure is configured to allow sufficient extension / flexion movement and three degrees of freedom for each finger for natural interaction with the hand.
  • 11 shows a 3D design of the hand exoskeleton system 100 with the assembled actuator module 10. Both driver modules were fitted for the experiment.
  • the force control performance was experimentally verified with the actual exoskeleton structure.
  • a predetermined force was set to a sinusoidal signal having a frequency of 0.5 Hz and a magnitude of 5 N. Fingers moved randomly.
  • the predetermined motor position was calculated in real time by the predetermined force and finger position. According to the result of the force generation performance in any finger movement, it was confirmed that even under this arbitrary movement of the finger, the force is generated as desired without significant error.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transplantation (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'objectif technique de la présente invention vise à fournir un module d'actionneur de commande de force pour une structure d'exosquelette de main, le module d'actionneur de commande de force étant compact pour garantir un mouvement naturel d'une main et, en même temps, pouvant transmettre avec précision une force interactive prédéterminée d'un objet virtuel à un utilisateur. À cet effet, un module d'actionneur de commande de force pour un système d'exosquelette de main, selon la présente invention, comprend : un premier potentiomètre pour mesurer la position d'une structure de liaison de doigt ; un second potentiomètre pour mesurer la position d'un actionneur équipé à l'intérieur d'un moteur linéaire ; et un élément élastique situé entre l'actionneur et la structure de liaison de doigt, l'élément élastique agissant comme un capteur de force, et la force transmise par l'actionneur est mesurée au moyen de la déviation de l'élément élastique.
PCT/KR2015/004411 2014-05-12 2015-04-30 Module d'actionneur de commande de force pour une structure d'exosquelette de main, et système d'exosquelette de main l'utilisant WO2015174670A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2014-0056534 2014-05-12
KR1020140056534A KR101682949B1 (ko) 2014-05-12 2014-05-12 손 외골격 구조를 위한 힘 제어 구동기 모듈 및 이를 이용한 손 외골격 시스템

Publications (1)

Publication Number Publication Date
WO2015174670A1 true WO2015174670A1 (fr) 2015-11-19

Family

ID=54480167

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2015/004411 WO2015174670A1 (fr) 2014-05-12 2015-04-30 Module d'actionneur de commande de force pour une structure d'exosquelette de main, et système d'exosquelette de main l'utilisant

Country Status (2)

Country Link
KR (1) KR101682949B1 (fr)
WO (1) WO2015174670A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108261311A (zh) * 2016-12-30 2018-07-10 富伯生医科技股份有限公司 穿戴式手指复健装置
EP3357473A3 (fr) * 2016-12-30 2018-11-07 Rehabotics Medical Technology Corporation Appareil de rééducation de doigts portable
CN109199784A (zh) * 2017-07-04 2019-01-15 中国科学院沈阳自动化研究所 一种柔性驱动的手部康复设备及其反馈控制电路
WO2019061566A1 (fr) * 2017-09-29 2019-04-04 富准精密电子（鹤壁）有限公司 Dispositif de maintien et bras mécanique comportant ledit dispositif de maintien
CN110871450A (zh) * 2019-11-28 2020-03-10 季华实验室 一种灵巧手指机构、机械手及控制方法
CN112656637A (zh) * 2019-10-15 2021-04-16 深圳市迈步机器人科技有限公司 手部康复设备及其控制方法
CN107813333B (zh) * 2017-09-05 2021-04-27 芜湖瑞思机器人有限公司 一种用于高速并联机器人的食品抓取机构
CN113183168A (zh) * 2021-04-22 2021-07-30 常州工学院 一种夹持机构

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101849477B1 (ko) * 2016-11-30 2018-04-18 한국로봇융합연구원 손 재활 로봇
KR101989274B1 (ko) * 2018-03-16 2019-09-30 이권우 팔지지 기구
KR102482596B1 (ko) * 2021-03-18 2022-12-30 성균관대학교산학협력단 선형 액추에이터를 위한 락킹 메커니즘

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100362733B1 (ko) * 1999-09-21 2002-11-29 최혁렬 장착형 반직접 구동방식의 역감제시 기구
KR100447907B1 (ko) * 2001-12-07 2004-09-13 한국과학기술연구원 유압 실린더를 사용한 힘반영 기구
JP2004326417A (ja) * 2003-04-24 2004-11-18 Institute Of Physical & Chemical Research 直動アクチュエータユニット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100362733B1 (ko) * 1999-09-21 2002-11-29 최혁렬 장착형 반직접 구동방식의 역감제시 기구
KR100447907B1 (ko) * 2001-12-07 2004-09-13 한국과학기술연구원 유압 실린더를 사용한 힘반영 기구
JP2004326417A (ja) * 2003-04-24 2004-11-18 Institute Of Physical & Chemical Research 直動アクチュエータユニット

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108261311A (zh) * 2016-12-30 2018-07-10 富伯生医科技股份有限公司 穿戴式手指复健装置
EP3357473A3 (fr) * 2016-12-30 2018-11-07 Rehabotics Medical Technology Corporation Appareil de rééducation de doigts portable
CN108261311B (zh) * 2016-12-30 2020-02-04 富伯生医科技股份有限公司 穿戴式手指复健装置
CN109199784A (zh) * 2017-07-04 2019-01-15 中国科学院沈阳自动化研究所 一种柔性驱动的手部康复设备及其反馈控制电路
CN109199784B (zh) * 2017-07-04 2024-03-26 中国科学院沈阳自动化研究所 一种柔性驱动的手部康复设备及其反馈控制电路
CN107813333B (zh) * 2017-09-05 2021-04-27 芜湖瑞思机器人有限公司 一种用于高速并联机器人的食品抓取机构
WO2019061566A1 (fr) * 2017-09-29 2019-04-04 富准精密电子（鹤壁）有限公司 Dispositif de maintien et bras mécanique comportant ledit dispositif de maintien
CN112656637A (zh) * 2019-10-15 2021-04-16 深圳市迈步机器人科技有限公司 手部康复设备及其控制方法
CN110871450A (zh) * 2019-11-28 2020-03-10 季华实验室 一种灵巧手指机构、机械手及控制方法
CN113183168A (zh) * 2021-04-22 2021-07-30 常州工学院 一种夹持机构

Also Published As

Publication number Publication date
KR101682949B1 (ko) 2016-12-07
KR20150129921A (ko) 2015-11-23

Similar Documents

Publication Publication Date Title
WO2015174670A1 (fr) Module d'actionneur de commande de force pour une structure d'exosquelette de main, et système d'exosquelette de main l'utilisant
Gupta et al. Design of a haptic arm exoskeleton for training and rehabilitation
US6042555A (en) Force-feedback interface device for the hand
EP0981423B1 (fr) Dispositif d'interface de retroaction de force pour la main
Zollo et al. Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications
Solazzi et al. Design of a novel finger haptic interface for contact and orientation display
US6059506A (en) Force feedback and texture simulating interface device
Park et al. A dual-cable hand exoskeleton system for virtual reality
Tachi et al. Telesar vi: Telexistence surrogate anthropomorphic robot vi
Tachi et al. Evaluation experiments of a teleexistence manipulation system
Solazzi et al. Design of a cutaneous fingertip display for improving haptic exploration of virtual objects
WO2010091857A1 (fr) Procédé de commande d'un dispositif de robot, et dispositif de robot
Sledd et al. Performance enhancement of a haptic arm exoskeleton
Secco et al. A wearable exoskeleton for hand kinesthetic feedback in virtual reality
WO2001018617A1 (fr) Reflexion mecanique a distance avec rigidite regulee et actionneurs (memica)
Pabon et al. A data-glove with vibro-tactile stimulators for virtual social interaction and rehabilitation
Najdovski et al. Extending haptic device capability for 3D virtual grasping
Wang et al. Multiple rehabilitation motion control for hand with an exoskeleton
Gosselin Guidelines for the design of multi-finger haptic interfaces for the hand
Wang et al. Active and passive control algorithm for an exoskeleton with bowden cable transmission for hand rehabilitation
Cattin et al. Design and development of a novel robotic platform for neuro-robotics applications: the NEURobotics ARM (NEURARM)
Stanley et al. Integration of a particle jamming tactile display with a cable-driven parallel robot
Jo et al. Kinematic analysis of a hand exoskeleton structure
Ziegler Haptic displays: how can we feel virtual environments?
Esmatloo Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15793287

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15793287

Country of ref document: EP

Kind code of ref document: A1