Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Dynamic Analysis of Finger Joint Torque for Tip Pinch Task

두 점 집기 작업 시 손가락 관절토크의 역학적 해석

  • Kim, Yoon-Jeong (Department of Mechanical Engineering, Myongji Univ.) ;
  • Jeong, Gwang-Hun (Department of Mechanical Engineering, Myongji Univ.) ;
  • Rhee, Kye-Han (Department of Mechanical Engineering, Myongji Univ.) ;
  • Lee, Soo-Jin (Department of Mechanical Engineering, Myongji Univ.)
  • 김윤정 (명지대학교 기계공학과) ;
  • 정광훈 (명지대학교 기계공학과) ;
  • 이계한 (명지대학교 기계공학과) ;
  • 이수진 (명지대학교 기계공학과)
  • Received : 2011.03.30
  • Accepted : 2011.04.28
  • Published : 2011.06.01
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Abstract

This paper presents the dynamic analysis on the joint torque of a finger for the tip pinch task. The dynamic model on finger movement was developed in order to predict the joint torques of an index finger, and the finger was assumed as a three-link planar manipulator. Analysis of the model revealed that the joint stiffness was one of the most important parameters affecting the joint torque. The stiffness of the finger joint was experimentally measured, and it was used in analyzing the finger joint torque required for performing the tip pinch task. The obtained joint torque for the tip pinch task will be used as the design requirements of the finger exoskeletal orthosis actuated by the polymer actuator whose allowable torque limit is relatively low compared to that of a mechanical actuator.

Keywords

References

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