Review of the Kinematic Compatibility Design of Hand Exoskeletons

doi:10.16183/j.cnki.jsjtu.2018.06.015

Abstract

Abstract: The design arts and status of hand exoskeletons are analyzed and reviewed from the perspective of human-robot kinematic compatibility. Firstly, the main existing hand kinematic models are introduced on the basis of the analyses of the hand anatomical structure and hand joint kinematics. Secondly, according to the design methods to realize the human-robot kinematic compatibility, the hand exoskeletons are divided into three classifies including the joint axis-alignment hand exoskeletons, the joint axis self-adaptive hand exoskeletons, and the compliance glove hand exoskeletons. Moreover, the design characteristics of the typical hand exoskeletons are also briefly analyzed. Finally, the influences of the kinematic difference between human and robot joints, the individual difference and wearing offset on the human-robot kinematic compatibility are analyzed, on which the main issues in the design of hand exoskeletons and the future research are discussed and prospected.

Key words: hand exoskeleton, hand kinematic model, kinematic compatibility, design method

CLC Number:

TH 11
TP 24

LI Jianfeng1，ZHANG Zhaojing1，ZHANG Leiyu1，TAO Chunjing2，JI Run2，FAN Jinhong1. Review of the Kinematic Compatibility Design of Hand Exoskeletons[J]. Journal of Shanghai Jiaotong University, 2018, 52(6): 729-742.

References

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