Human grasp assist device soft goods

摘要

A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.

主权项

1. A grasp assist system comprising:
a glove having:
a digit selected from the group consisting of a finger and a thumb;a force sensor positioned with respect to the glove that is configured to measure a grasping force applied to an object by an operator wearing the glove;a plurality of adjustable phalange rings positioned with respect to the digit;a saddle positioned with respect to the digit;a flexible tendon that is looped at one end around the saddle;a conduit that at least partially contains the tendon; anda conduit anchor secured to the glove, wherein the conduit is received within the conduit anchor and prevented from moving in an axial or compressive direction by the conduit anchor; and a flexible sleeve having pockets containing:
an actuator assembly connected to another end of the tendon; anda controller in communication with the force sensor, wherein the controller is configured to calculate a tensile force in response to the measured grasping force, and to command the tensile force from the actuator assembly to thereby tension the tendon and thereby move the digit.