A SERIES ELASTIC ACTUATOR DESIGN AND CONTROL IN A LINKAGE BASED HAND EXOSKELETON

Area of Science:

• Robotics
• Biomechatronics
• Rehabilitation Engineering

Background:

• Soft actuators in hand exoskeletons face limitations in size and power.
• Series elastic actuators (SEAs) offer a compact and lightweight alternative for compliant assistance.
• Linkage-based mechanisms enhance the repeatability and accuracy of hand exoskeleton systems.

Purpose of the Study:

• To design a series elastic actuator (SEA) for a hand exoskeleton.
• To develop a higher-level controller for the SEA to assist user hand motion.
• To integrate the SEA and controller into a functional robotic exoskeleton prototype.

Main Methods:

• Detailed design and construction of the series elastic actuator.
• Implementation of a virtual dynamic system to interpret user motion intention.
• Performance testing of the actuator and controller using a PD controller on a single-finger exoskeleton prototype.

Main Results:

• The series elastic actuator provides compliant and lightweight assistance.
• The linkage-based mechanism ensures accurate and repeatable movements.
• Preliminary tests demonstrate the controller's ability to assist motion based on user intention.

Conclusions:

• The proposed SEA and controller offer a viable solution for hand exoskeleton assistance.
• The system demonstrates potential for intelligent grasping in future hand exoskeleton prototypes.
• Further integration and testing are planned for a complete hand exoskeleton system.