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FORCE CONTROL ACTUATOR MODULE FOR A HAND EXOSKELETON STRUCTURE, AND A HAND EXOSKELETON SYSTEM USING SAME
FORCE CONTROL ACTUATOR MODULE FOR A HAND EXOSKELETON STRUCTURE, AND A HAND EXOSKELETON SYSTEM USING SAME
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机译:用于手外骨骼结构的力控制执行器模块以及使用该方法的手外骨骼系统
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摘要
The technical objective of the present invention is to provide a force control actuator module for a hand exoskeleton structure, the force control actuator module being compact so as to guarantee natural moving of a hand and at the same time being able to accurately transmit predetermined interactive force from a virtual object to a user. In order to obtain the technical objective, a force control actuator module for a hand exoskeleton system, according to the present invention, comprises: a first potentiometer for measuring the position of a finger linkage structure; a second potentiometer, for measuring the position of an actuator, equipped inside a linear motor; and a resilient member provided between the actuator and the finger linkage structure, wherein the resilient member functions as a force sensor, and the force transmitted from the actuator is measured by means of the deflection of the resilient member.
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