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Performance Verification of Highly Stretchable Soft Sensors |
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Dahee Jeong(Ulsan National Institute of Science and Technology, Korea), Joonbum Bae(UNIST, Korea) |
| Soft sensors have attracted much attention due to its inherent characteristics such as stretchability and softness. However, stretchability of the soft sensor might be limited by the mechanical properties of silicone material, elongation break, shore hardness, tensile strength, and so on. In this study, we validate the effect of the material on the sensor performance, comparing silicone materials with different mechanical properties. Pull-to-failure tests and cyclic loading tests were conducted to validate sensor performance in terms of stretchability, sensitivity, and durability. |
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Soft hand rehabilitation glove for patients with neurological disorders |
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Dong Hyun Kim, Hyung-Soon Park(KAIST, Korea) |
| This paper presents the design and evaluation of a dexterous soft robotic glove that could provide assistance of dexterous manipulation. The soft robotic glove is actuated by cables externally routed along the hand surface(exotendons). For dexterous motions with a compact design the cables replicated the orientation and structure of the extrinsic and intrinsic tendons of the hand. The postures that could be achieved with the dexterous soft robotic glove was evaluated by enforcing the exotendons with various forces. |
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Thumb CMC(Carpometacarpal) joint for the prosthetic hand with a realistic motion |
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Si-Hwan Heo(Korea Advanced Institute of Science and Technology, Korea), Hyung-Soon Park(KAIST, Korea) |
| In this paper, the novel thumb CMC joint mechanism for the prosthetic hands is introduced. The developed CMC joint is designed to have the tilted saddle joint shape. Through the tilted saddle joint shape, the developed CMC joint has two active DOF with one passive DOF. It shows Flexion/Extension and Abduction/Adduction movements, while the internal rotation occurs together. Therefore the developed mechanism shows realistic motion of the human by using single joint. By using this mechanism, we could develop the thumb CMC joint with full degree of freedom in compact size. |
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Plane Thimble for Adaptive and Sensor Embeddable Design for Exo-Glove Poly |
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Hyungmin Choi, Brian Byunghyun Kang, Kyujin Cho(Seoul National University, Korea) |
| Because of the importance of hand in daily life, many hand rehabilitation/assist robots were proposed, and Exo-Glove Poly is one of them. The thimble is hard to adapt to many people and has no sensors. So we propose plane thimble structure with a sensor that can be wrapped around the fingertip. With the new thimble design, it can adjust to various sizes of fingers and fix it with the string. A surgeon knot was used for the adaptation. Another property of this design is that it can embed sensors in the desired position. The feasibility of the concept has been verified. |
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Teflon Tubes Selection based on Friction Tests for Exo-Glove Poly |
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Brian Byunghyun Kang, Hyungmin Choi, Kyujin Cho(Seoul National University, Korea) |
| Exo-Glove Poly is a soft wearable robot for the hand based on polymer using tendon-driven actuation for spinal cord injury patients. In Exo-Glove Poly, the double Teflon tubing technique was developed to prevent injury by direct contact between the wire and the skin. However, the double Teflon tubing technique, was an important issue in determining the thickness of the robot. To find the optimal design parameters of the double Teflon tubing technique, the friction tests were performed. Based on the test results, design parameters of the Teflon tubes were determined and presented in this paper. |
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Modeling of the relationship between wire tension and joint torque for force control of tendon driven hand assist wearable robots |
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Byungchul Kim, Kyujin Cho(Seoul National University, Korea) |
| Soft wearable robot has been developed to transmit the force to the human body while minimizing the size of the robot. In this study, we have modeled the relationship between the tension-joint torque which is required for the force control of the exo-glove developed to assist the function of the hand using wires. The change of the finger motion according to the tension of the wire was calculated under the quasi-static condition and the tension for making the joint torque according to the position was estimated. |
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