Proposal of a SkilMate Hand and its component technologies for extravehicular activity gloves

Abstract

In this study, we propose a SkilMate Hand for space extravehicular activity gloves which is equipped with devices of both a power assist and a tactile media. The paper focuses on development of component technologies for constructing a SkilMate Hand, which is proposed for recovering deteriorated haptic sensation in human hands. First, we manufacture a power assist device which compensates the bending moment exerted at a human nger joint utilizing a standing-wave-type ultrasonic motor. We plot the examined characteristics, propose a control policy of the actuators and show some control perforce in Bode plots. Second, we produce a tactile media device which is composed of a vibrotactile sensor element on the outer side and a vibrotactile display element on the inner side at the ngertips of the SkilMate Hand. Piezo-rubber is chosen to be used as a vibrotactile sensing transducer whose sensing performance is examined in the extremely high/low-temperature regions. We locate SkilMate in a wider framework of wearable intelligent machines which assist in affording such working surroundings that they can exhibit their skills in spite of their necessity for wearing special suits typical in hazardous environments. A proposal of a wearable intelligent machine such as that of a SkilMate with its concept has not been made before.

Hand Rehabilitation Robotics on Poststroke Motor Recovery

“…The robot can offer extra feedback to the brain to form an integrated close-loop pathway, which is meaningful for the human-robot interaction. The feedback is usually an augmented compensation for an attenuation of haptic feedback [ 152 , 153 ]. It can be visual, auditory, haptic, or multimodal.…”

Development of a Hybrid Piezo Natural Rubber Piezoelectricity and Piezoresistivity Sensor with Magnetic Clusters Made by Electric and Magnetic Field Assistance and Filling with Magnetic Compound Fluid

“…This is why it is necessity to use some form of rubber to create robot skins. Rubber is durable enough to withstand impulsive, large or repeated forces, while maintaining good elasticity and extensibility [ 5 ].…”

A structured overview of trends and technologies used in dynamic hand orthoses

“…From a different perspective, augmented feedback can be used to compensate for an attenuation of haptic feedback [ 55 , 56 ]. A spatial separation between the palmar surface and the environment can affect force perception [ 57 ], hence facilitating tactile sensation is considered to be of great importance in dynamic hand orthoses [ 58 ].…”