Openbionics exoskeleton project introduction | bciduino community finishing

Exoskeleton glove project

In the last ten years , soft 、 Under actuated and compliant robot exoskeleton gloves have attracted more and more attention . Possible applications of these systems range from enhancing the ability of healthy people to restoring the mobility of paralyzed or stroke patients . Although significant progress has been made in this area , But most existing solutions are still bulky and expensive , They need external power to work , And not wearable . In this project , Designers are committed to developing an adaptive （ Underactuated and compliant ）、 Tendon drive 、 Wearable exoskeleton gloves , A compact 、 economic 、 Portable auxiliary equipment , Provide users with enhanced crawling ability .

explain
The innovation of this project is to enhance the grip ability of users , The operation is simple and intuitive , Strong autonomy , Little maintenance , The cost is low .
The device consists of four different parts ： Differential module 、 Soft gloves 、 Tendon tensioning and adjusting mechanism and harness （ See above ）.

The gripping force of the gripping module is evenly distributed . This special differential mechanism can also be applied to different underactuated prosthetics and orthopedic systems . be based on whiffletre The differentiator of mechanism is widely used in underactuated manipulator . The differential is divided into three different parts ： Ratchet clutch 、 Linear ratchet and spring-loaded whip mechanism . The ratchet clutch mechanism includes a ratchet pulley block for wrapping tendons 、 A pawl preventing the ratchet wheel from rotating in one direction and an elastic element , The elastic element acts as a spring , Push the pawl towards the ratchet , Thus limiting the movement of the pawl in the other direction . The mechanism can accurately adjust the length of the tendon （ Accuracy of 87.mm）.

The purpose of using this mechanism is to adjust the length of multiple tendons passing through the tendon wiring tube and reaching the glove . In order to keep the tendon in tension for a long time , Linear ratchet is used . This mechanism ensures that the tendons are locked in one position , Until the mechanism is used again . The mechanism consists of a row of “V” Profile tooth 、 leverage 、 Guide 、 The base is composed of two springs . The guide rail is fixed on the differential module by screws , The base can slide on the guide rail , Ensure that the movement of the base always occurs on the single axis . When pulling the upper cable , The spring will push the lever against the teeth , Until the system reaches the desired position . then , The lever slides into one of them “V” Gear locking mechanism and keep the tension constant . When the system is reconnected , The joystick is pulled onto the channel again , The spring connecting the base and the differential module wall pulls the base , Until the lever reaches the lowest position , The tendon is restored to its initial tension . When pulling the upper cable again , Loop reinitialization . The ability to keep tendons tensioned for a long time is critical for underdrive and body dynamics , Because other tendons drive 、 Motorized solutions （ Such as full drive system ） in , The special motor can adjust the tension of the tendon and maintain the load while grasping and manipulating the object .

The body's dynamic mechanism allows power from the upper body （ Like shoulders ） It is transmitted to the index finger through the tendon wiring system 、 Middle finger and thumb . Simple body exercises can increase the tension of tendons , So as to drive the soft exoskeleton gloves . The differential mechanism is used to distribute the force evenly to the fingers . So , A tension adjusting device must be designed to operate the cable accurately . The mechanism consists of a base connecting parts 、 A lever 、 A pulley with rectangular teeth 、 A cover and a retractable drum . After putting on the mechanism , The user presses a lever , Cable on drum （ Separate from tendons ） Rotate the pulley counterclockwise , Wrap the drive tendon around the pulley and tension . The plastic cover ensures that the cable will not slide out of the pulley channel .

The recommended seat belt is selected as the body power unit , Because it is comfortable , Helps keep shoulders aligned . When the right arm or shoulder transmits force to the main cable , The differential is pulled , The artificial tendon of the finger is strained . These tendons are responsible for moving fingers .

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