Structure Design of Assisting Grasping Flexible Supernumerary Robotic Finger and Grasping Experiment
To address the problems of cumbersome and expensive compensation and rehabilitation facilitiesused by patients with upper limb injury,a wearable flexible supernumerary robotic finger system that can collaborate with the injured arm to grasp was proposed.The structure of the underactuated supernumerary robotic finger body was designed.The number of drivers,structural weight and mechanism complexity were reduced by using flexible joints,and the grasp adaptability of the supernumerary robotic finger to objects of different shapes and sizes was obtained.The kinematics and statics models of grasping process were established,and the prototype body,driving and control modules of the supernumerary robotic finger system were designed.The bending motion simulation and prototype grasping experiments were carried out.The simulation and experimental results show that the supernumerary robotic finger system can stably achieve envelope grasping movement for objects of different shapes.The theoretical modeling and structural design of the flexible supernumerary robotic finger is rational,which is helpful for patients with upper limb injuries to grasp objects.
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