Control of a glove-based grasp assist device

摘要

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.

主权项

1. A grasp assist system comprising:
a glove that is wearable on a hand of an operator, including:
a digit, wherein the digit is one of a thumb and a finger;a force sensor positioned with respect to the glove, wherein the force sensor is configured to measure a grasping force applied to an object by an operator wearing the glove;a tendon having a first end and a second end, wherein the first end is connected to the digit; and a sleeve that is wearable on a forearm of the operator and having:
actuator assembly connected to the second end of the tendon; anda controller including:
a user interface;a configuration module having a recorded plurality of selectable operating modes, including at least one force-based control mode and at least one position-based control mode; anda processor configured to calculate a tensile force for each of the selectable operating modes; wherein the controller is in communication with the sensor and the actuator assembly, and is configured to receive a selected one of the selectable operating modes via the user interface and apply the tensile force to the tendon via the actuator assembly for the selected operating mode.