An Exoskeleton System for Measuring Mechanical Characteristics of Extravehicular Activity Glove Joint

Author

Wang, J.Y. ; Xie, Z.W. ; Zhao, J.D. ; Fang, H.G. ; Jin, M.H. ; Liu, Hong

Author_Institution

Robot Res. Inst., Harbin

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1260

Lastpage

1265

Abstract

This paper presents a novel exoskeleton hand system for measuring extravehicular activity spacesuit glove (EVA glove) joint´s mechanical characteristics. For adapting to variety sizes of gloves, the proximal phalanx of exoskeleton finger can be adjusted through an additional four-bar transmission mechanism. The exoskeleton hand can apply forces that actuate both flexion and extension of EVA glove. Based on its special mechanical structure, a mathematic model of flexible EVA glove joint has been built.

Keywords

aerospace control; dexterous manipulators; flexible manipulators; exoskeleton finger; exoskeleton hand system; extravehicular activity spacesuit glove joint; flexible EVA glove joint; four-bar transmission mechanism; mathematic model; mechanical structure; Damping; Exoskeletons; Extraterrestrial measurements; Fingers; Haptic interfaces; Mechanical variables measurement; Medical robotics; Orbital robotics; Robots; Torque measurement; EVA glove; exoskeleton hand; flexible joint; mechanical characteristics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340109

Filename

4142046