Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Tactilely Transparent Soft Glove with High Grasping Force

높은 파지력을 가지며 촉감을 전달할 수 있는 유연한 글러브

  • Jeong, Yong-Jun (Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Kim, Jong-In (Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Jeon, Hyeong-Seok (Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Lee, Deok-Won (Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Kim, Yong-Jae (Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
  • 정용준 (한국기술교육대학교 전자공학과) ;
  • 김종인 (한국기술교육대학교 전자공학과) ;
  • 전형석 (한국기술교육대학교 전자공학과) ;
  • 이덕원 (한국기술교육대학교 전자공학과) ;
  • 김용재 (한국기술교육대학교 전자공학과)
  • Received : 2016.08.09
  • Accepted : 2016.11.04
  • Published : 2016.12.01
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Abstract

This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

Keywords

References

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