Analysis of the Forces on the Finger Joints by a Joint-Less Wearable Robotic Hand, SNU Exo-Glove

Abstract

SNU Exo-Glove is a joint-less wearable robotic hand developed to assist and rehabilitate the hand in a compact and lightweight manner. The objective of this paper is to analyze and discuss the forces on the finger joints by the axial forces produced by the wearable robotic hands. Wearable robotic hands that have frames and joints rotate the fingers by applying moment on the joints. SNU Exo-Glove does not have frames and joints, and the fingers are driven by the tendons attached directly on the glove, applying axial forces on the finger, which could cause problems in the joints. Forces are analyzed for the both types of the wearable robotic hand and compared. Although larger amount of forces are applied on the finger by the joint-less structure, we conclude that since the tendons are attached further away with a larger moment arm compared to the actual human tendons, these forces should not be a problem unless spasticity of the person’s fingers are very high.

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2010-0013470) and the Technology Innovation Program (100036459, 10036492) funded by the MKE/KEIT, Korea.