Robotic finger exoskeleton
AssigneeBoard of Regents, The University of Texas System
InventorsAshish Deshpande, Priyanshu Agarwal
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Abstract
The present disclosure includes a finger exoskeleton including a plurality of joints and a plurality of sensors configured to measure rotation of at least some of the plurality of joints of the finger exoskeleton. The finger exoskeleton also includes a series elastic actuator comprising a spring element, the series elastic actuator configured to rotate at least one of the plurality of joints. The finger exoskeleton also includes a computing device configured to control operation of the series elastic actuator based on a torque of the at least one of the plurality of joints, the torque determined at least based on the spring element and rotation of the at least one of the plurality of joints. The present disclosure also includes associated methods and hand exoskeletons.
Claims19
A finger exoskeleton comprising:
- a plurality of joints;
- a plurality of sensors configured to measure rotation of at least some of the plurality of joints of the finger exoskeleton;
- a first series elastic actuator comprising a spring element, the first series elastic actuator configured to rotate at least one of the plurality of joints;
- a sliding joint configured to translate one or more lateral forces applied to the at least one of the plurality of joints into a normal reaction force, the one or more lateral forces causing the sliding joint to slide;
- and
- a computing device configured to control operation of the first series elastic actuator based on a torque of the at least one of the plurality of joints, the torque determined at least based on the spring element and rotation of the at least one of the plurality of joints.
A method comprising:
- measuring a first rotation of a joint of a robotic finger exoskeleton;
- detecting a second rotation of a motor coupled to a series elastic actuator;
- translating one or more lateral forces applied to the joint of the robotic finger into a normal reaction force;
- determining a torque of the joint of the robotic finger exoskeleton based at least on the first rotation and a spring element of the series elastic actuator;
- and
- modifying an operation of the series elastic actuator based on the torque.
A hand exoskeleton comprising:
- a plurality of finger exoskeletons, each finger exoskeleton comprising:
- a plurality of joints;
- a plurality of sensors configured to measure rotation of at least some of the plurality of joints of the finger exoskeleton;
- and
- a series elastic actuator comprising a spring element, the series elastic actuator configured to rotate at least one of the plurality of joints;
- a sliding joint configured to translate one or more lateral forces applied to the at least one of the plurality of joints into a normal reaction force, the one or more lateral forces causing the sliding joint to slide;
- and
- a computing device configured to control operation of the series elastic actuator based on a torque of the at least one of the plurality of joints, the torque determined at least based on the spring element and a rotation of the at least one of the plurality of joints.
Dependencies are inferred from the claim text.