Kinematic modeling and prototype test of flexible supernumerary robotic finger in grasping for the disabled

SUN Weijun; XU Yong; GUO Shuyan; LIU Lingxiao

doi:10.12299/jsues.23-0262

Volume 38 Issue 4

Dec. 2024

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Article Navigation > Journal of Shanghai University of Engineering Science > 2024 > 38(4): 422-428

SUN Weijun, XU Yong, GUO Shuyan, LIU Lingxiao. Kinematic modeling and prototype test of flexible supernumerary robotic finger in grasping for the disabled[J]. Journal of Shanghai University of Engineering Science, 2024, 38(4): 422-428. doi: 10.12299/jsues.23-0262

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SUN Weijun, XU Yong, GUO Shuyan, LIU Lingxiao. Kinematic modeling and prototype test of flexible supernumerary robotic finger in grasping for the disabled[J]. Journal of Shanghai University of Engineering Science, 2024, 38(4): 422-428. doi: 10.12299/jsues.23-0262

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Kinematic modeling and prototype test of flexible supernumerary robotic finger in grasping for the disabled

doi: 10.12299/jsues.23-0262

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2023-12-18
Publish Date: 2024-12-31

Abstract

Abstract

A wearable flexible supernumerary robotic finger system capable of collaborative grasping with disabled arms was proposed, and its structure and prototype were designed. A kinematic model for supernumerary robotic finger bending and grasping objects was established, the forward and inverse kinematic mapping relationship between the stretching displacement of the driving rope, the joint angle of the finger joint, and the pose of the end finger joint were obtained. The dynamics of the flexible supernumerary robotic fingers were carried out through simulation, the movement rules of the unloaded finger end were obtained. Through experimental construction, the flexible supernumerary robotic finger prototype can achieve stable envelope grasping of objects 1.7 times larger than the body. It verifies the rationality of kinematic modeling and structural design, and has certain practicality.
- collaborative grasping,
- wearable robot,
- flexible supernumerary robotic finger,
- forward and inverse kinematics modeling

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References(13)

References

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