一个基于织物的软手外骨架提供帮助:ExHand外骨架.
Juan C Maldonado-Mejía1,2, Marcela Múnera2,3, Camilo A R Diaz1
1Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Espírito Santo (UFES), Vitória, Brazil.
Frontiers in neurorobotics
|July 3, 2023
概括
这项研究验证了一种基于织物的软手外骨架,用于协助日常生活活动. ExHand外骨在抓住各种物体方面表现出了很高的性能,显示了其对康复和日常援助的潜力.
科学领域:
- 软机器人软机器人 软机器人
- 康复机器人 康复机器人
- 人与机器人的互动
背景情况:
- 软机器人和基于织品的气动驱动正在为日常生活活动 (ADL) 推进手部外骨架.
- 现有的设备显示出潜力,但需要对各种对象的抓取能力进行彻底评估.
- 稳定的对象操纵对于成功的ADL辅助至关重要.
研究的目的:
- 开发和实验验证一种基于织物的软手外骨架.
- 评估外骨在各种物体和ADL中抓取性能.
- 为了评估用户对设备的满意度.
主要方法:
- 开发了一种基于面料的软手外骨架 (ExHand外骨架).
- 使用了人类形状手评估协议 (AHAP),使用了24个物体和8种抓取类型.
- 对10名健康用户进行了测试,并使用了用户满意度调查问卷.
主要成果:
- ExHand外骨获得了95.76%±2.90%的维持得分,证明了与各种物体的稳定接触.
- 该设备成功地协助执行AHAP评估的八种抓取类型.
- 用户满意度很高,平均得分为4.27±0.34分之5.
结论:
- 基于织物的软手外骨架有效地抓住各种物体,支持ADLs.
- ExHand外骨在康复和日常生活辅助方面表现有前途.
- 积极的用户反表明该设备的实际应用潜力.
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