A FORCE-CONTROLLABLE ACTUATOR MODULE FOR A WEARABLE HAND EXOSKELETON AND A HAND EXOSKELETON SYSTEM USING THE MODULE

摘要

The present invention is to provide a force control actuator module for a hand exoskeleton structure which is enough compact to secure a natural movement of a hand as well as capable of exactly delivering a certain interactional force to a user from a virtual object. To this end, the force control actuator module according to the present invention comprises: a first potentiometer formed to measure a location of a finger link structure; a second potentiometer formed to measure a location of an actuator, and installed inside a linear motor; and an elastic member installed between the actuator and the finger link structure. The elastic member functions as a force sensor. A force transferred from the actuator is measured by deflection of the elastic member.