WO2023224536A1 - Gant de renforcement, système de commande et procédés pour faire fonctionner un moyen d'actionnement - Google Patents

Gant de renforcement, système de commande et procédés pour faire fonctionner un moyen d'actionnement Download PDF

Info

Publication number
WO2023224536A1
WO2023224536A1 PCT/SE2023/050477 SE2023050477W WO2023224536A1 WO 2023224536 A1 WO2023224536 A1 WO 2023224536A1 SE 2023050477 W SE2023050477 W SE 2023050477W WO 2023224536 A1 WO2023224536 A1 WO 2023224536A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
glove
actuating means
contact point
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2023/050477
Other languages
English (en)
Inventor
Martin EWALDSSON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bioservo Technologies AB
Original Assignee
Bioservo Technologies AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bioservo Technologies AB filed Critical Bioservo Technologies AB
Publication of WO2023224536A1 publication Critical patent/WO2023224536A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
    • A61B5/224—Measuring muscular strength
    • A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A61B5/6806—Gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6843—Monitoring or controlling sensor contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D19/00—Gloves
    • A41D19/015—Protective gloves
    • A41D19/01547—Protective gloves with grip improving means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0155—Additional features of the articulation with actuating means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0188—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations having pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • a strengthening glove, a control system, and methods for operating an actuating means TECHNICAL FIELD The technology disclosed relates to a strengthening glove, or force-assisting glove, in other words a glove arranged to be worn by a human hand and used for strengthening a movement executed by one or more fingers of the hand.
  • the technology disclosed also relates to a control system for use in a strengthening glove, and methods for operating and controlling the movements and positioning of an actuator of a strengthening glove.
  • BACKGROUND The technology disclosed relates to a strengthening glove, or force-assisting glove, arranged to be worn by a human hand and used for strengthening a gripping movement executed by one or more fingers of the hand.
  • the technology also relates to a control system for controlling a strengthening glove, and methods for operating and controlling such a strengthening glove.
  • Such strengthening gloves are known, using different operating principles, such as arranging individual driving units on each finger to be strengthened or by using wires or cables, such as artificial tendons, to apply pushing and/or pulling forces onto particular points on each finger to be strengthened.
  • electric or pneumatic driving mechanisms may be employed.
  • One example of such a glove is described in US 8,029,414 B2, using artificial tendons fastened to strengthened fingers and driven by a central control system, in turn applying pulling forces to the tendons.
  • US 2013226350 A1 discloses a strengthening glove with specific gripping features, initiated using a separate control device.
  • EP 2417941 A discloses a movement assisting glove with a biosignal detection part configured to detect a biosignal that causes a finger of a wearer to move.
  • the above-mentioned prior art force-assisting gloves are operated to offer general strengthening of the movements of the human hand wearing the glove.
  • the gripping force imparted by the human user is amplified to strengthen the grip to provide a combined grasping force of the fingers/hand of the user and machine output force applied by the control system via its actuators.
  • a problem when using such a force-assisting glove is that different tasks and actions require a suitable aid without incurring unnecessary or unwanted response delays.
  • the above- mentioned prior art gloves do not respond quickly and accurately in situations where substantially the same or similar movements, e.g. gripping movements, are repeatedly performed in sequence. For instance, it may be difficult to provide, in situations when substantially the same or similar gripping movement are performed repeatedly, a fast machine output force response applied by the control system via its actuators yet providing an appropriate combined force imparted by the fingers/hand of the user and machine output force applied by the control system of the glove.
  • the tasks and actions performed by a strengthening glove, or force-assisting glove are often repeated or similar and therefore require a suitable aid and a machine output force that is applied more quickly in response to the imparted force of the hand and fingers of the user yet provides an appropriate combined force imparted by the fingers/hand of the user and applied machine output force.
  • the problems with prior art force-assisting gloves, or strengthening gloves include that these gloves are not adapted to that the properties of these gloves and their sensors typically vary between individual gloves. For instance, it may be difficult to provide a quickly applied machine output force and accurately combined applied machine output force and force imparted by the user for repetitive and similar tasks performed by the same strengthening glove because the properties of the individual gloves and its sensors units are mutually different.
  • the technology disclosed relates to a strengthening glove, or force-assisting glove, in other words a glove arranged to be worn by a human hand and used for strengthening a movement, e.g. a gripping movement, executed by one or more fingers of the hand.
  • the technology also relates to the adaptive control of a strengthening glove, and a control system and methods for operating such a strengthening glove by determining and adaptively adjusting the actuator start position for at least one actuator of an actuating means arranged to impart a machine output force to at least one glove finger of the strengthening glove, and by controlling the movement of the actuator so that the start position for the at least actuator corresponds to the adjusted actuator start position.
  • the objectives of the technology disclosed include a suitable aid and a machine output force that is applied more quickly in response to the imparted force of the hand and fingers of the user yet provides an appropriate combined force imparted by the fingers/hand of the user and applied machine output force in situations when gripping tasks performed are substantially similar and are repeated in sequence.
  • the control system of the technology disclosed is configured to adaptively control the movements and positioning of the at least one actuator of a strengthening glove by determining or estimating the actuator contact point for a gripping movement and controlling the movements and/or positioning of the at least one actuator for the next or a subsequent gripping movement is at least partly based on the determined/estimated actuator contact point where the actuator contact point is defined by the actuator position where the artificial tendon connected to the actuator is just tight enough to transfer force.
  • the control system is configured to estimate the actuator contact point for and during a gripping movement, and then adaptively adjust, for the next or a subsequent gripping movement, the start position for the actuator of the actuating means at least partly based on the estimated actuator contact point for the gripping movement.
  • the actuator contact point may then be defined by the actuator position where the artificial tendon connected to the actuator is just tight enough to transfer force.
  • the control system may then control, for the next or a subsequent gripping movement and following the release of a grasp, the movement of the actuator so that the actuator is moved to a start position which is selected at least partly based on the estimated actuator contact, e.g. the selected start position may correspond, or substantially correspond, to the estimated actuator contact point for the gripping movement.
  • control system is configured to estimate the respective actuator contact point for a plurality of gripping movements, and, based on the plurality of estimated actuator contact points, determine, for the next or a subsequent gripping movement, the start position for the actuator of the actuating means at least partly based on the plurality of estimated actuator contact points.
  • the technology disclosed relates to a system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the system further comprises a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened.
  • the control system is further arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values obtained from at least one of the at least one sensor means.
  • control system is further configured to estimate the actuator contact point for at least one of the at least one actuators or actuating means, where the actuator contact point is defined by the actuator position where the artificial tendon connected to the respective actuating means is just tight enough to transfer force.
  • the estimation of the actuator contact point by the control system may then be performed during the ongoing gripping movement.
  • the technology disclosed relates to a glove/system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the glove/system further comprises a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened.
  • the control system is arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at least one actuator, or actuating means, using a force strengthening feedback loop based upon sensor measurement values obtained from at least one of the at least one sensor means.
  • the actuator, or actuating means comprises a motor and the control system is configured to estimate, for a gripping movement, the contact point for at least one actuator of the glove/system at least partly based on at least one of the motor voltage applied to the respective at least one actuator and the rotation/rotational speed for the respective at least one actuator.
  • the respective actuator comprises a motor and typically operates using a combination of a motor and a mechanical drive mechanism.
  • the rotation/rotational speed may then, for example, be determined by at least one encoder mounted/arranged on the motor and the data from the encoder(s) may be received/obtained by the control system that is configured to estimate/determine the actuator contact point for the respective at least one actuator at least partly based on the rotation speed for the actuator.
  • control system of the glove/system is configured to estimate/determine the actuator contact point for the respective at least one actuator by use of the motor voltage applied to the respective actuator during at least portions of the gripping movement and the rotation speed determined for the actuator during at least portions of the gripping movement.
  • the technology disclosed relates to a glove/system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger, said system further comprising a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened, which control system is arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at
  • the technology disclosed relates to a glove/system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the glove/system further comprises a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened, which control system is arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values obtained from at least one of the at least one sensor means, wherein the control system is configured to estimate the actuator contact point for at least one actuator of the at least one actuating means based at least partly on at least one of an algorithm and an approximation model by use of at least one of the motor voltage applied to the actuator and the rotation speed for the actuator as input to the algorithm or approximation model for estimating the actuator contact
  • the technology disclosed relates to a glove/system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the glove/system further comprises a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened, which control system is arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values obtained from at least one of the at least one sensor means, wherein the control system is configured to estimate the actuator contact point for at least one actuator of the at least one actuating means based at least partly on at least one of an algorithm and an approximation model by use of the motor voltage applied to the actuator during at least portions of the gripping movement and the rotation speed for the actuator during at least portions of the gripping movement as input data
  • the respective actuator operates using a combination of motor and mechanical drive mechanism and the control system is further configured to adjust, for the next or a subsequent gripping movement, the actuator start position for the at least one actuator of the at least one actuating means at least partly based on the estimated actuator contact point and then control, for the next or a subsequent gripping movement, the movement of the at least one actuator at least partly based on the estimated/determined actuator contact point for the respective at least one actuator.
  • control system may be configured to control at least one actuator of the glove/system so that the at least one actuator is backed out to a start position for the next or subsequent gripping movement that is determined at least partly based on the estimated actuator contact point for the at least one previous gripping movement where the estimated actuator contact point for the at least one previous gripping movement is determined based on the motor voltage applied (by the control system) to the respective actuator during at least portions of the at least one previous gripping movement (that may be ongoing when the actuator contact point is estimated/determined) and the rotation speed for the respective actuator (for example by use of encoders mounted on the motor for the respective actuator) during at least portions of the at least one previous gripping movement (that may be ongoing when the actuator contact point is exstimated/determined), for example the motor voltage applied to actuator and the rotation/rotational speed for the actuator may be used as input data to an algorithm or approximation model used by the control system for estimating/determining the actuator contact point for actuator.
  • control system is configured to perform the estimation of the actuator contact point when the respective actuator is moved above the actuator contact point.
  • the system comprises at least one tension sensor for detecting the tension in at least one of the at least one artificial tendon.
  • the control system may then be configured to estimate the actuator contact point at least partly based on tension measurement data obtained by the control system from the at least one tension sensor.
  • the system comprises at least one tension sensor for continuously measuring the current tension in the at least one artificial tendon.
  • the control system may then be configured to continuously obtain tension measurement data from at least one tension sensor and use the obtained tension measurement data in an algorithm or function for estimating the actuator contact point for at least one actuator of an actuating means.
  • control system is configured to estimate the actuator contact point based on an algorithm or approximation model for estimating the tension in the respective at least one artificial tendon. In embodiments, the control system is configured to estimate the tension in the respective at least one artificial tendon based on an approximation model using the assumption that the tension rises from the actuator contact point to a current actuator position when the estimation of the actuator contact point is performed. In embodiments, the control system is configured to estimate the tension in the respective at least one artificial tendon based on a linear approximation model using the assumption that the tension rises linearly from the actuator contact point to a current actuator position when the estimation of the actuator contact point is performed.
  • control system is configured to estimate the respective actuator contact point for individual gripping movements at a certain respective pre-determined actuator position for the at least one actuator of the actuating means when the tension in the respective artificial tendon is sufficiently high for accurately estimating the actuator contact point.
  • control system is configured to perform the estimation of the actuator contact point for the at least one actuator of the actuating means solely based on a tension estimation model and without obtaining any tension measurement data measuring the tension in the at least one artificial tendon.
  • control system is configured to determine and adjust, for the next or a subsequent gripping movement, the actuator start position for at least one actuator of the actuating means based on the estimated actuator contact point.
  • control system is configured to determine the start position for the next or a subsequent gripping movement by adjusting an estimated actuator contact point a certain distance, e.g. a calculated or pre-determined distance that determines the start position to be within a position range 1 – 10 mm below the estimated actuator contact point.
  • control system is configured to determine and adjust, for the next or subsequent gripping movement, the actuator start position for at least one actuator of the actuating means at least partly based on estimated actuator contact points for a plurality of previous gripping movements.
  • control system is configured to determine the start position for the next or a subsequent gripping movement by adjusting an estimated actuator contact point which is based on aggregated estimated actuator contact points for a plurality of gripping movement including the ongoing gripping movement a certain distance, e.g. a calculated or pre-determined distance that determines the start position to be within a position range 1 – 10 mm below the estimated actuator contact point.
  • the control system may then use weighting factors that determines the importance of the respective previously estimated actuator contact points for determining the start position for the for the next or a subsequent gripping movement.
  • control system is configured to determine and adjust, for the next or subsequent gripping movement, the actuator start position for at least one of the at least one actuating means solely based on an estimated actuator contact point for the current gripping movement using a tension estimation model and without first obtaining measurement data from any tension sensor for measuring the tension in the at least one artificial tendon.
  • control system is configured to control the at least one actuator of the actuating means so that the respective at least one actuator of the at least one actuating means is moved, or backed out, to a respective actuator start position substantially corresponding to the determined start position which is at least partly based on the estimated actuator contact point.
  • control system is configured to control the at least one actuator of the actuating means so that the respective at least one actuator of the at least one actuating means is moved, or backed out, to a respective actuator start position substantially corresponding to the estimated actuator contact point.
  • system is configured to control the at least one actuating means so that the respective at least one actuator is backed out to a respective actuator start position substantially corresponding to the estimated actuator contact point for the immediately preceding gripping movement.
  • control system is configured to control at least one actuating means so that a respective at least one actuator of the at least one actuating means is backed out to an actuator start position slightly below the estimated actuator contact point.
  • control system is configured to control the at least one actuating means so that a respective at least one actuator of the at least one actuating means is backed out to an actuator start position which is more than 1 mm below the estimated actuator contact point.
  • control system is further configured to control at least one actuator of the at least one actuating means to move in a cyclic waveform from the actuator start position so that the at least one actuator is first moving in the positive direction and then back to the start position, thereby causing an increase in the motor torque that can be used for determining an intention by the user of the glove to open the hand further.
  • the control system is further configured to control at least one actuator of the at least one actuating means to move in a sawtooth pattern from the actuator start position so that the at least one actuator is moving slowly in the positive direction and then quickly back to the start position, thereby causing an increase in the motor torque that can be used for determining an intention by the user of the glove to open the hand further.
  • the system comprises at least two actuators and the control system is configured to control the at least one actuating means so that the starting time of the respective cyclic waveform, e.g.
  • the system comprises at least two actuators and the control system is configured to control the at least one actuating means so that the starting time for the respective cyclic waveform or sawtooth cycle is offset between the at least two actuators so that at least one of the actuators is always moving in the positive direction, thereby an intention by the user of the glove to open the hand further can be sensed at any time.
  • control system of the technology disclosed is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises estimating, by the control system, the actuator contact point for at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force, and controlling, by the control system and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one actuator for the next or subsequent gripping movement corresponds to the determined start position.
  • control system of the technology disclosed is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises determining, by the control system and for the next or a subsequent gripping movement, a start position for the respective at least one actuator based on the estimated at least one actuator contact point, and controlling, by the control system and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one actuator for the next or subsequent gripping movement corresponds to the determined start position.
  • control system of the technology disclosed is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises estimating, by the control system, the respective actuator contact point for the at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force, and determining, for the next or a subsequent gripping movement, a start position for the respective at least one actuator based on the respective actuator contact point for the at least one actuator.
  • control system of the technology disclosed is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises estimating, by the control system, the actuator contact point for at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force, determining, for the next or a subsequent gripping movement, a start position for the respective at least one actuator based on the estimated at least one actuator contact point, and controlling, by the control system and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one actuator for the next or subsequent gripping movement corresponds to the determined start position.
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuating means arranged to impart a force to a respective one of the glove fingers.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force, determining, for the next or a subsequent gripping movement, a start position for the respective at least one actuator, and controlling, by the control system and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one actuator for the next or subsequent gripping movement corresponds to the determined start position.
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuating means arranged to impart a force to a respective one of the glove fingers.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force, d) determining, for the next or a subsequent gripping movement, a start position for the respective at least one actuator, and e) controlling, by the control system and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) obtaining, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement and the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement, d) estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means based on the obtained motor voltage and the rotation speed for the respective at least one actuator, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means begins to transfer force,
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) obtaining, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement and the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement, d) estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means by use of an approximation model having the obtained motor voltage applied to the motor of the respective at least one actuator and the rotation speed for the respective at least one actuator as input data, where the actuator contact point is defined by the position of
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) reading, by at least one encoder arranged on the motor for the respective actuator, data indicative of the rotation speed for the respective actuator, d) obtaining, by the control system, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement and data from the at least one encoder indicative of the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement, d) estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means by use of an
  • the method step of estimating is further comprising estimating the respective actuator contact point for the at least one actuator based on an approximation model, e.g. a linear or non-linear approximation model, using the assumption that the tension rises from the actuator contact point to a current actuator position when the estimation of the actuator contact point is performed.
  • the method further comprising estimating the tension in the respective at least one artificial tendon based on a linear approximation model using the assumption that the tension rises linearly from the actuator contact point to a current actuator position when the estimation of the actuator contact point is performed.
  • the method further comprises estimating, by the control system, the respective unique actuator contact point for individual gripping movements when the tension in the at least one artificial tendon has risen above a certain threshold when the tension in the at least one artificial tendon is sufficiently tight to provide a sufficiently accurate approximation of the actuator contact point.
  • the method further comprises estimating the actuator contact point for the at least one of the at least one actuating means solely based on a tension estimation model and without obtaining any tension measurement data measuring the tension in the at least one artificial tendon.
  • the system comprises at least one tension estimation sensor for measuring the current tension in the at least one artificial tendon
  • the method further comprising obtaining, by the control system, tension measurement data from the at least one tension estimation sensor and using the obtained tension measurement data in an approximation model for estimating the actuator contact point for the respective at least one actuator of the at least one actuating means.
  • the method further comprises determining, for the next or a subsequent gripping movement, the actuator contact point for the respective at least one actuator of the at least one actuating means at least partly based on an estimated actuator contact point for the current gripping movement.
  • the method further comprises determining, for the next or a subsequent gripping movement, the actuator contact point for at least one of the at least one actuating means solely based on an estimated actuator contact point for the current gripping movement. In embodiments, the method further comprises determining, for the next or a subsequent gripping movement, the actuator contact point for the respective at least one actuator of the at least one actuating means based on estimated actuator contact points for a plurality of previous gripping movements. In embodiments and following the release of a grasp after a gripping movement, the method further comprises controlling, by the control system, the at least one actuating means so that the respective at least one actuator is moved or backed out to a start position substantially corresponding to the estimated actuator contact point for a previous gripping movement.
  • the method further comprises controlling, by the control system, the at least one actuating means so that the respective at least one actuator is moved to or backed out to a start position corresponding to, or substantially corresponding to, the estimated actuator contact point for an immediately preceding gripping movement.
  • the method further comprises controlling, by the control system, a plurality of actuators of the strengthening glove so that the respective actuator is moved to or backed out to a start position corresponding to, or substantially corresponding to, their respective estimated actuator contact point for the immediately preceding gripping movement.
  • the method further comprises controlling, by the control system and for the next gripping movement, a plurality of actuators of the strengthening glove so that the respective actuator is moved to or backed out to a start position corresponding to a determined start position which is determined based on an estimated actuator contact point for the immediately preceding gripping movement.
  • the method further comprises controlling, by the control system and for the next gripping movement, a plurality of actuators of the strengthening glove so that the respective actuator is moved to or backed out to a start position corresponding to a determined start position which is determined based on previously estimated actuator contact points for a plurality of preceding gripping movements.
  • the start position for the respective actuator may then be determined based on previously estimated actuator contact points for the same actuator or may be determined based on estimated actuator contact points for the same and other actuators, e.g. by using weighting factors determining the importance of each estimated actuator contact point.
  • the control system may be configured to determine the start position for the actuator based on previously estimated actuator contact points for a plurality of actuators, e.g. by using weighting factors determining the importance of each estimated actuator contact point in the determining of the start position for the particular actuator.
  • the method comprises controlling, by the control system, the at least one actuating means so that the respective at least one actuator of the at least one actuating means is moved or backed out to an actuator start position slightly below the estimated actuator contact point.
  • the method comprises controlling, by the control system, the at least one actuating means so that a respective at least one actuator of the at least one actuating means is moved or backed out to an actuator start position which is more than 2 mm below the estimated actuator contact point for an immediately preceding gripping movement.
  • the method comprises controlling, by the control system, the at least one actuating means so that a respective at least one actuator of the at least one actuating means is moved or backed out to a start position which is between 2 and 10 mm below the estimated actuator contact point for an immediately preceding gripping movement.
  • the respective at least one actuator In embodiments and after having moved or backed out the respective at least one actuator to a start position corresponding to, or substantially corresponding to, the respective estimated actuator contact point for an immediately preceding gripping movement, controlling, by the control system, the respective at least one actuator to move in a cyclic waveform from their respective start position so that the respective at least one actuator is first moving in the positive direction and then back to the start position, thereby causing an increase in the motor torque that may be used for determining an intention by the user of the glove to open the hand further.
  • the method comprises controlling, by the control system, the respective at least one actuator of the at least one actuating means to move in a sawtooth pattern from their respective start position so that the at least one actuator is moving slowly in the positive direction and then quickly back to the start position, thereby causing an increase in the motor torque that may be used for determining an intention by the user of the glove to open the hand further.
  • the system comprises at least two actuators, and the method further comprises controlling, by the control system, the at least one actuating means so that the start time of the respective cyclic waveform, e.g.
  • the system comprises at least two actuators
  • the method further comprises offsetting, by the control system, the start time of the respective cyclic waveform, e.g. or sawtooth cycle, between the at least two actuators so that at least one of the actuators is always moving in the positive direction, thereby an intention by the user of the glove to open the hand further may be sensed by the control system at any time.
  • the strengthening glove of the technology disclosed consists of a glove-like device comprising artificial tendons running through ducts and/or sown into the fingers, which typically are connected to a power unit.
  • the power unit may then be part of an actuating means comprising at least one actuator for pulling on the artificial tendons to thereby strengthen a movement imparted by the user, e.g. a gripping movement.
  • the control system is configured to determine and store the range of obtained sensor measurement values for a plurality of previous gripping movements and adaptively determine and adjust the start position for the respective least one actuator as a function of the sensor input force based on the stored range of obtained sensor measurement values for the plurality of previous gripping movements.
  • control system is configured to apply individual weighting factors to a plurality of previous gripping movements so that an immediately preceding gripping movement to the next gripping movement has a greater impact on the determining of the start position than the impact of a gripping movement performed earlier than the immediately preceding gripping movement.
  • Figure 1 is a perspective view of a strengthening glove according to an example embodiment of the technology disclosed, worn by a human hand and comprising a control system
  • Figure 2 is a perspective view of a strengthening glove according to another second example embodiment of the technology disclosed, worn by a human hand and further showing sensor means
  • Figure 3 is a flowchart illustrating a method according to the technology disclosed
  • Figure 4 illustrates an example of the machine output force applied as a function of the detected sensor input force
  • Figure 5 illustrates an example of a series of similar gripping movements and releases of grasps where the tension in the artificial tendons is plotted against actuator position.
  • the technology also relates to a feedback control system for a strengthening glove, and methods for operating and controlling the at least one actuator for such a strengthening glove.
  • the technology disclosed relates to a strengthening glove and control system for adaptive control of the actuating means of a strengthening glove, and methods for adaptive control of the actuating means of a strengthening glove.
  • the tasks and actions performed by a strengthening glove, or force-assisting glove require a suitable aid and an applied machine output force which is fast in response to the imparted grasping force of the fingers/hand of the user.
  • the objective of the technology disclosed is to provide a strengthening glove, a control system and methods for a faster and/or more synchronized machine output force response applied by the control system via its actuators to thereby provide an improved more suitable combined grasping force imparted by the fingers/hand of the user and applied machine output force.
  • the objective of the technology disclosed is to provide a strengthening glove, a control system and methods for responding more quickly and accurately in situations where substantially the same or similar gripping movements are performed repeatedly and in sequence. The inventors of the technology disclosed have realized that when the user releases their grasp it is useful to not back out the actuators farther than necessary, as this allows the glove to act on the next grasp without substantial delay.
  • the strengthening glove further needs to be responsive if the user tries to open his/her hand further, e.g. after a release of a grasp.
  • the strengthening glove, control system and adaptive methods of the technology disclosed provides a fast machine output force response and a more suitable combined grasping force of the fingers/hand of the user and machine output force applied by the control system via its at least one actuator in situations when substantially the same or similar gripping movements are performed repeatedly and sequentially.
  • the force generated by the strengthening glove can only be transferred to the fingers when the artificial tendons are tight. Any slack in the tendons will cause a delay in the response of the glove while the tendons are being tightened.
  • the contact point is unique to each type of grasp that the user performs since it depends on the shape of the grasped object. It is however likely that the user will grasp the same object repeatedly. The inventors have realized that keeping track of the contact point enables the glove to respond more quickly in situations where substantially the same or similar gripping movement are performed.
  • the contact point for an actuator may be determined based on an estimated tension. Since tension estimation only works when the tendons are tight, the contact point determination is typically performed when the tension has risen above a certain threshold.
  • the actual contact point may be estimated by a linear approximation, using the assumption that the tension rises linearly with the actuator position once contact has been established.
  • a strengthening glove, or force/power-assisting glove responds differently in terms of applied machine output force depending on whether the applied force is increasing or decreasing. This difference is due to force hysteresis due to friction in the force-transmitting parts of the glove, e.g. the textile, stitches etc.
  • the strengthening glove responds to applied force with a behaviour similar to a spring when the artificial tendons are tightened, i.e. when the actuator speed is positive and the artificial tendons begin to stretch.
  • the technology disclosed relates to a system and glove for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the glove/system may then further comprising a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened, which control system is arranged to obtain sensor measurement values from the respective at least one sensor means, and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values obtained from at least one of the at least one sensor means.
  • a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied, where
  • the actuators of the glove/system typically operate using a combination of a motor and mechanical drive mechanism. By transmitting motor torque to the drive mechanism, actuators can convert it to motion that include linear or helical motion, as well as rotation.
  • the control system is further configured to estimate the actuator contact point for at least one of the at least one actuator based on input signals obtained by the control system, for example input signals indicative of at least one of the motor voltage U and the motor rotation speed w for the at least one actuator.
  • the actuator contact point may then be defined by the actuator position where the artificial tendon connected to the respective actuating means is just tight enough to begin transferring force.
  • the motor voltage is typically controlled by the control system of the strengthening glove based on/in response to obtained measured sensor values for at least one sensor of the at least one sensor means of the glove, for example at least one pressure sensor, and the rotation speed may be determined using encoder(s) mounted/arranged on the motors.
  • the applied motor voltage may then be a function of the sensor values measured/obtained by at least one sensor of the glove, for example a pressure sensor, and the control system of the glove may further be configured to determine the applied motor voltage from the obtained sensor values.
  • the control system may then be further configured to estimate/determine the contact point for an actuator of the glove at least partly based on the applied motor voltage for the actuator.
  • data indicative of the rotation/rotational speed w for the at least one actuator may also be obtained by the control system of the glove and the control system may be configured to estimate/determine the contact point for an actuator at least partly based on the rotation/rotational speed w for the actuator.
  • the control system of the glove may be configured to use at least one of the applied motor voltage U and obtained/received data indicative of the rotation speed w for at least one actuator as input signals/data for estimating, for a gripping movement, the contact point for the at least one actuator.
  • control system may be configured to use at least one of the applied motor voltage U and the rotation speed w an approximation model, for example
  • the contact point of an actuator for a grip may be estimated with a linear approximation by taking the maximum position of the actuator along with the highest estimated tension during the grip. Once the tendon begins to stretch, the system behaves like a spring and the relationship between position on the actuator and tension in the tendon is approximately linear.
  • the signals used to estimate tension are typically the motor voltage U and the motor rotation speed w.
  • the motor voltage U is typically controlled by the control system of the strengthening glove from measured sensor values, for example by obtaining sensor measurement data indicative of the amount of force applied to at least one pressure sensor of the glove and then applying a feed voltage to the motors resulting in an applied machine output force, and the rotation speed w is typically measured with encoders mounted on the motors.
  • U R * I + k * w
  • the motor current I can be calculated.
  • the motor constant k and the motor resistance R are specified by the manufacturer.
  • the resistance R is typically also checked with lab measurements.
  • tq_outputShaft tq_motor – tq_dynamic
  • tq_dynaic is estimated by J * dw/dt.
  • J is the system’s built-in moment of inertia, estimated with lab measurements
  • dw/dt is the motor’s acceleration, and may be measured with the same encoders that are used for measuring the rotation/rotational speed w for the actuator.
  • Actuator friction can vary between the individual actuators and is therefore continuously estimated each time the actuator backs out at a constant speed by looking at how much torque is required for it.
  • Other losses are typically assumed to be more general and may be compensated with a loss factor measured in the lab.
  • the hysteresis may typically be compensated for with a position-based low-pass filter.
  • it is typically assumed that the remaining torque is taken up by the tendon.
  • the technology disclosed relates to a glove/system for strengthening a gripping movement performed with one or more fingers of a human hand enclosed in a glove with at least one glove finger and comprising at least one artificial tendon extending along the inside of the glove and being connected to an actuator/actuating means, at least one sensor means situated on the inside of at least one of the at least one glove fingers and arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger.
  • the system further comprising a control system arranged to cause the at least one actuator to exert a pulling force on the artificial tendon of at least one glove finger on the basis of a force detected by the at least one sensor means arranged to detect a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, whereby a gripping movement performed by a human hand wearing the glove is strengthened, which control system is arranged to read a respective sensor measurement value from the at least one sensor means, and to control the respective machine output force applied by the at least one actuating means using a force strengthening feedback loop based upon sensor measurement values obtained from at least one of the at least one sensor means, wherein the control system is configured to estimate the actuator contact point for at least one actuator of the at least one actuating means based at least partly on at least one of an algorithm and an approximation model for estimating the tension in the respective at least one artificial tendon to determine the actuator contact point where the respective artificial tendon connected to the actuator begins to transfer force.
  • the control system may then be further configured to first determine and adjust, for the next or a subsequent gripping movement, the actuator start position for the at least one actuator of the at least one actuator/actuating means at least partly based on the estimated actuator contact point and then control, for the next or a subsequent gripping movement, the movement of the at least one actuator of the at least one actuating means so that the at least one actuator is backed out to a start position for the next or subsequent gripping movement that is determined at least partly based on the estimated actuator contact point for the at least one previous gripping movement.
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one sensor arranged to detect, in at least one measurement location on the palm side of said at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which said gripping movement is applied, which glove further comprises at least one actuating means arranged to impart a force to a respective one of said glove fingers, which glove further comprises a control system, arranged to read respective measurement values from the at least one sensor and to control the respective force applied by said at least one actuating means using a force strengthening feedback loop based upon the said measurement values, the method comprises the steps of a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied based on the sensor measurement values read from the at least one sensor; c
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the respective actuator comprises a motor and operates using a combination of a motor and a mechanical drive mechanism.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) obtaining, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement and the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement, d) estimating, by the control system, the respective actuator contact point for at least one actuator of the at least one actuating means by use of an approximation model having the obtained motor voltage applied to the motor of the respective at least one actuator and the rotation speed for the respective at least one actuator as input data, where the actuator contact point is defined by the position of
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the respective actuator comprises a motor and operates using a combination of a motor and a mechanical drive mechanism.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) reading, by at least one encoder mounted/arranged on the motor for the respective actuator, data indicative of the rotation/rotational speed for the respective actuator, d) receiving, by the control system and from the at least one encoder, data indicative of the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement e) obtaining, by the control system, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement, f) estimating, by the control system, the respective actuator contact point for at least
  • the technology disclosed relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove.
  • the strengthening glove may then comprise at least one sensor arranged to detect, in at least one measurement location on the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective one of the glove fingers.
  • the respective actuator comprises a motor and operates using a combination of a motor and a mechanical drive mechanism.
  • the control system is arranged to read respective measurement values from the at least one sensor and to control the respective force applied by the at least one actuator/actuating means using a force strengthening feedback loop based upon the measurement values, and the method comprises the steps of: a) reading, by the control system, sensor measurement values from the at least one sensor during a gripping movement; b) controlling, by the control system, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor, c) reading, by at least one encoder mounted/arranged on the motor for the respective actuator, data indicative of the rotation/rotational speed for the respective actuator, d) receiving, by the control system and from the at least one encoder, data indicative of the rotation/rotational speed for the respective at least one actuator during at least portions of the gripping movement e) obtaining, by the control system, the motor voltage applied to the motor of the respective at least one actuator during at least portions of the gripping movement, f) estimating/determining, by the control system, the respective actuator contact point for
  • the tension in the artificial tendons will be kept up due to friction.
  • a significant proportion ( ⁇ 50%) of the force generated by the actuators may typically be lost in losses in the force transmission between the actuators and the glove, including losses in the Bowden cables between the actuators and the force anchoring in the glove.
  • the losses in the Bowden cables is due to the angular sum of the Bowden cables. If the cables are kept completely straight, there would be no losses in the force transmission in the Bowden cables.
  • the user releases their grasp it is useful to not back out the actuators farther than necessary, as this allows the glove to act on the next grasp without delay. This requires the glove to also be responsive if the user tries to open their hand further.
  • the glove may use tension sensors to determine the user’s intention to release the grasp, and/or an intention detection algorithm may be used.
  • An intention detection algorithm may be used without any tension sensors and may be based on the observation that if the user starts opening their hand while the actuators are moving in a positive direction, this will cause an increase in the motor torque.
  • the technology proposes to keep the actuators moving in the positive direction most of the time, while maintaining them approximately at the contact point, e.g. each actuator may be controlled to move a cyclic waveform, e.g. a sawtooth pattern, slowly in the positive direction, then quickly back to the estimated contact point.
  • the start of each cyclic waveform may then be offset between the actuators so that at least one actuator is always moving in the positive direction, so that the user’s intention can be sensed at any time.
  • the introduction of the intention detection algorithm strives to improve the user experience by allowing the glove to respond quickly to repeated grasps. It uses the contact point determination and grasp release intention detection described above to be attentive to the user’s intentions. This allows it to minimize the slack in the tendons as the user performs repetitive grasps, with minimal interference when the user releases a grasp.
  • the intention detection algorithm may run in parallel with a basic grasp algorithm. Each algorithm then generates a control voltage for each of the actuators and the highest voltage will control the actuator.
  • the basic grasp algorithm When the user is grasping an object the basic grasp algorithm is in control, but when the user releases their grasp the algorithm ensures that the actuators are not backed out too far for the glove to be responsive should the user renew their grasp.
  • the algorithm is especially useful when the user performs a series of repetitive grasps with a small range of motion.
  • the algorithm attempts to find a suitable baseline position for each actuator, initially based on the contact point. If the user performs another grasp this counts as a successful prediction of the user’s intention. If on the other hand the user opens their hand further than the algorithm predicted, this counts as a failure. The algorithm may then maintain a success rate based on the history of success and failure.
  • the baseline position may be recalibrated based on the success rate, typically raised when the success rate increases and lowered when it decreases. This way the algorithm adapts to the user’s grasp pattern.
  • the baseline position may be overlaid with the cyclic waveform, e.g. sawtooth pattern, to be able to sense if the user starts opening their hand.
  • the technology disclosed relates to a strengthening glove with at least one glove finger and comprising a control system arranged to strengthen a movement, e.g. a gripping movement, performed by a human hand wearing the strengthening glove.
  • the control system comprises at least one sensor means with at least one sensor arranged to detect, in at least one measurement location on the palm of the hand and the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the control system of the strengthening glove further comprises at least one actuator, or actuating means, arranged to impart a force to a respective at least one of the glove fingers.
  • the control system may further comprise a control device arranged to read respective sensor measurement values from the at least one sensor means for each of the at least one measurement location.
  • the at least one sensor means is typically arranged on at least one of the palm of the hand and the palm side of the at least one glove finger of the strengthening glove and is configured to detect a respective pressure or force between a respective human finger wearing the respective glove finger and a respective contact surface onto which a gripping movement is applied.
  • the technology disclosed is partly based on the insight that the machine output force applied to the respective at least one glove finger by the control system via its actuators is in response to, or a function of, the sensor measurement values of the pressure or force detected by the force detecting sensor means and not the manual force imparted by the user.
  • the inventors have realized that the sensor input force detected and thereby the machine output force applied by a strengthening glove, or force-assisting glove, is subjected to different factors that have an impact on and constantly and continuously changes the range of sensor measurement values detected and thereby the machine output force applied by the strengthening glove during operation and over time.
  • the range of detected sensor measurement values and thereby the magnitude of the applied machine output force may depend on the different nature of the various tasks performed by the strengthening glove, the sensor technology used for the sensors and the physical and electrical properties of the individual sensors.
  • the inventors have also realized that the range of detected sensor measurement values and thereby the applied machine output force continuously change over time when the electrical properties of the individual sensors and the mechanical properties of the individual gloves change, including the aging of the gloves and their sensors.
  • the technology disclosed also relates to a method for operating a strengthening glove with at least one glove finger, which glove is arranged to strengthen a gripping movement performed by a human hand wearing the glove, which glove comprises at least one force detecting sensor means arranged to detect, in at least one measurement location on the palm of the hand or the palm side of the at least one glove finger, a respective force between a respective human finger wearing the respective glove finger and a respective contact surface onto which the gripping movement is applied.
  • the strengthening glove further comprises at least one actuating means arranged with at least one actuator to impart a force to a respective one of the glove fingers, so that the corresponding human finger wearing the glove finger in question is bent towards a gripping position.
  • the strengthening glove of the technology disclosed further comprises a control device, arranged to read a respective measurement value from the sensor means for each of the measurement locations and to control the respective force applied by the at least one actuating means using a force strengthening feedback loop based upon the sensor measurement values.
  • the technology disclosed addresses these problems by providing a strengthening glove and a control system for adaptive control using, for example, software programs and/or algorithms initiated using sensor measurement values and input from the same sensor locations that are used in a feedback loop in order to perform the strengthening action of the glove, as well as a method implementing such functionality.
  • the technology disclosed relates to improvements in the firmware regarding algorithms which detect the user’s intentions of grasping, holding, and releasing an object to be able to respond quickly to the user’s actions.
  • the strengthening glove of the technology disclosed typically consists of a glove with artificial tendons running through ducts or sown into the fingers, which are connected to a power unit.
  • the power unit contains actuators which pull on the artificial tendons to strengthen a movement imparted by the user, e.g. a gripping movement.
  • the actuators When the system is in the starting state the actuators are typically at the end position which give the maximum slack of the artificial tendons. This will be referred to as the lower end position.
  • As the actuators move to tighten the tendons they move in the positive direction. This of course typically implies a positive rotation of the motors, in response to a positive applied voltage.
  • the strengthening glove according to the technology disclosed is equipped with at least one sensor means including, e.g., pressure sensors, force sensors and/or strain sensors arranged in the glove fingers.
  • the sensor means are used to sense the sensor input force when the user grasps an object and, when the glove is providing assistance, the combined grasping force of the user and the machine output applied by the control system via its actuating means.
  • Another key aspect is the force in the glove’s artificial tendons, which plays an important role in detecting the user’s intention to release the grasp.
  • the word ‘force’ will generally mean the force or pressure measured by the at least one sensor means, including e.g. pressure sensors or force sensors, while the word ‘tension’ will be used for the force in the tendons.
  • Example embodiments of the strengthening glove according to the technology disclosed may use custom-made tension sensors to measure the tension in the artificial tendons. However, in other embodiments of the technology disclosed, these tension sensors are replaced by a model-based estimation of the tension in the artificial tendons. The use of a model-based estimation of the tension in the artificial tendons typically lead to significant cost reductions as well as increased robustness of the system. All figures share the same reference numerals for similar or corresponding parts.
  • Figure 1 illustrates a human hand 10 wearing a strengthening glove 100 according to an embodiment of the technology disclosed.
  • the strengthening glove 100 comprises a control system 200, also according to the technology disclosed.
  • the glove 100 comprises at least one glove finger. In figure 1, five glove fingers 101-105 are illustrated, for exemplifying purposes.
  • the glove 100 is arranged to strengthen a movement, e.g. a gripping movement, performed by the human hand 10 wearing the glove.
  • the control system 200 also comprises at least one actuator or actuating means 240 (generally indicated in figure 1), arranged to impart a force to a respective one of the glove fingers 101-105.
  • the actuator or actuating means 240 in this example embodiment is arranged on the top of the arm/hand.
  • the actuating means 240 may be arranged in other locations such as on the back of the user or on the inside of the user’s arm (Figure 2).
  • Figure 2 illustrates a human hand 10 wearing a strengthening glove 100 according to another example embodiment of the technology disclosed.
  • Figure 2 shows the sensor means 210 arranged on the palm side of the glove fingers.
  • the actuating means 240 is arranged on the inside of the user’s arm.
  • the control system 200 comprises at least one sensor means 210 arranged to detect, in at least one measurement location on the palm 106 side of the at least one glove fingers 101-105, a respective force between a respective human finger 11-15 wearing the respective glove finger 101-105 and a respective contact surface onto which the gripping movement is applied, at the respective at least one measurement location for the sensor means 210.
  • several measurement locations may be arranged on the palm side of the hand, on one single finger and/or on different fingers.
  • the control system 200 also comprises at least one actuator or actuating means 240 (generally indicated in figure 1), arranged to impart a force to a respective one of the glove fingers 101-105, so that the movement imparted by the corresponding human finger 11-15 wearing the glove finger 101-105 is strengthened in its movement, e.g. gripping movement.
  • one and the same actuator or actuating means 240 is arranged to impart respective such forces to each one of the five fingers 101-105.
  • several actuators or actuating means 240 may be used in parallel, for instance each operating on one finger each, and/or there may be less than five controlled glove fingers 101-105.
  • More than one actuator or actuating means 240 may also operate on one single finger, such as one actuator or actuating means 240 being arranged to extend or open the glove finger 101-105 and one actuator or actuating means 240 being arranged to strengthen a movement imparted by the finger in question. A combination of the above is also possible.
  • the control system 200 is arranged to read a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location, and to apply a machine output force to the respective at least one glove finger 101-105 via the actuator or actuating means 240 as a function of read or obtained sensor measurement values.
  • control system 200 is configured to determine and control the actuator start position for the next or a subsequent gripping movement based on an actuator contact point estimated for at least one previous gripping movement.
  • the control system 200 may then typically be arranged to read or obtain a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location during at least one gripping movement, and to adaptively determine and/or control the respective start position for the respective actuator or actuating means 240 to each controlled finger 101-105 for the next, a subsequent or future gripping movement as a function of read sensor measurement values based on a previously estimated actuator contact point for the actuator or actuating means 240.
  • control system 200 may typically comprise a control device 230, connected to the actuator or actuating means 240.
  • the control device 230 may comprise, or has access to, operating logic defining means for controlling the start position for the at least one actuator or actuating means 240 based on a previously estimated actuator contact point for the actuator or actuating means 240.
  • operating logic may be implemented in mechanics comprised in the control device 230, but preferably the control device 230 comprises electronic hardware circuitry and/or, preferably, a digital processor programmed with software configured for adaptively determining the start position for the at least one actuator or actuating means 240 for the next or a subsequent gripping movement based on an estimated actuator contact point for at least one previous gripping movement, e.g.
  • the control device 230 may typically be arranged to read a respective sensor measurement value from the at least one sensor means 210 for each of the at least one measurement location during at least one gripping movement, and to adaptively control the respective start position for the actuator or actuating means for the next or a subsequent gripping movement based on the estimated actuator contact point for at least one previous gripping movement.
  • the actuator or actuating means 240 may be conventional as such, for instance strengthening finger 11-15 movement via artificial tendons 250 (see below), pulling on the glove 100 fingers 101-105, by pulling the artificial tendons 250 via an electrical motor.
  • control may be performed using a software program, which comprises or is constituted by a force strengthening feedback loop, in turn based upon the sensor measurement values as input parameters.
  • control device 230 controls the actuating means 240 based upon output values of the calculations so as to control the movements and positioning of the actuators or actuating means 240.
  • control device 230 of the control system 200 may be further arranged to automatically and adaptively adjust, for the next or subsequent gripping movement, the start position for the at least one actuator or actuating means 240 based on at least one estimated actuator contact point for at least one previous gripping movement, e,g, which was estimated for the immediately preceding gripping movement.
  • a "software program” rather prescribes how to calculate an appropriate actuating means control parameter based upon a previously estimated actuator contact point and/or a given set of sensor measurement values/data from the sensor means 210, producing variable control parameters at least partly based on estimated actuator contact points, e.g. according to a certain set of logical rules.
  • different actuating means control will typically result based upon different estimated actuator contact points determined by the control system 200.
  • the term "measurement location” refers to a location where the said force is measured using the sensor means 210. Such a measurement location may be point-like or have a certain surface extension.
  • the sensor measurement values from the at least one measurement location are used as an input parameter into a control program.
  • all measurement locations are such measurement locations, being used in the control program.
  • the technology disclosed provides for a glove 100 which responds more quickly and accurately to the user’s intentions, i.e. change in applied manual force, in situations where substantially the same or similar gripping movements are repeatedly performed, e.g. in sequence.
  • the sensor means 210 may be in the form of one and the same sensor, e.g. pressure sensor or force sensor, arranged to measure pressure and/or force at several such locations, even along a continuous surface, of the glove 100 fingers 101-105.
  • the sensor means 210 may comprise a plurality of distinct sensors, e.g. at least two pressure sensors and/or force sensors, in turn arranged at the respective measurement locations and connected to a central processing unit, or directly to the control device 230.
  • the sensor means 210 comprises one such respective sensor for each measurement location.
  • the above-mentioned control program is arranged to implement the feedback loop as described above, possibly in a way which is conventional as such.
  • the control program comprises applying a machine output force to at least one glove 100 finger 101-105.
  • the actuating means 240 operating on at least one glove 100 finger 101-105 comprises a respective artificial tendon 250 connected to the glove 100 finger 101-105, at respective fastening points, which artificial tendon 250 is arranged to strengthen a movement imparted by the respective finger 101-105 by the control device 230 applying, via the machine output force applied by the actuating means 240, a respective pulling force to the respective artificial tendon 250 and as a result also to the respective glove finger 101-105.
  • the control device may comprise a power unit (not shown) and the artificial tendon can be attached to the control device 230, e.g. the power unit, via conventional Bowden cables 330.
  • the actuator or actuating means 240 may comprise a mechanism such as a linear or circular actuator, e.g. linear nut and screw or circular bobbin, which is used to impart the pulling force and to adjust the length of the artificial tendon 250.
  • Figure 3 illustrates the method steps of a method according to embodiments of the technology disclosed for operating a strengthening glove 100 of the type described above.
  • the method according to embodiments of the technology disclosed comprises controlling, by the control system 200, the machine output force applied via the respective at least one actuator based on the sensor measurement values read from the at least one sensor.
  • the method according to embodiments of the technology disclosed comprises estimating, by the control system 200, the respective actuator contact point for at least one actuator of the at least one actuating means, where the actuator contact point is defined by the position of the respective actuator where the artificial tendon connected to the respective actuating means is just tight enough to transfer force.
  • the method according to embodiments of the technology disclosed comprises determining, by the control system 200 and for the next or a subsequent gripping movement, a start position for the respective at least one actuator, where the determining of the start position is based on the actuator contact point estimated in step 302.
  • the method according to embodiments of the technology disclosed comprises controlling, by the control system 200 and following the release of a grasp, the movement and positioning of the respective at least one actuator so that the start position of the respective at least one actuator for the next or subsequent gripping movement corresponds to the start position determined in step 303.
  • the control device 230 of the control system 200 causes the actuator or actuating means 240 to be controlled according to the determined start position in step 303, thereby the strengthening glove 100 and its control system 200 is configured to automatically and adaptively adjust and control the start position for the actuator or actuating means 240 based on previously estimated actuator contact point.
  • Figure 4 illustrates an example of the machine output force applied by the actuating means of a strengthening glove as a function of the sensor input force(s) detected by the sensor means of the strengthening glove, i.e. the relationship between the at least one sensor input force detected by the at least one sensor means and the machine output force applied to the respective at least one glove finger by the at least one actuating means.
  • T – Output on the y-axis is the applied machine output force
  • F – Input on the x-axis is the detected sensor input force.
  • T_max in Figure 4 is maximum machine output force applied
  • dz is the threshold value for the sensor input force below which no machine output force is applied
  • s is the slope of the curve or up-ramp defining the sensitivity of the strengthening glove, i.e. the relationship between the sensor input force detected and the machine output force applied by the control system via its actuating means above the threshold value dz but below a sensor input force when a maximum machine output force is applied.
  • the machine output force applied is a linear function of the sensor input force in the sensor range.
  • the machine output force applied by the actuating means of a strengthening glove may be a non-linear function of the sensor input force detected in the sensor range between the threshold value dz and the smallest sensor input force above which a maximum machine output force T_max is applied.
  • FIG 5 illustrates an example of a series of similar gripping movements (up-slope) and releases of grasps (downslope) where the tension in the artificial tendons is plotted against actuator position. The differences between the plurality of gripping movements (up-slopes) and the plurality of releases of grasps (downslopes) for the series of grasps and the shape of the downslopes shows the motivation for introducing the solution according to technology disclosed.
  • the estimated actuator contact point (where the tension in the artificial tendon is just tight enough to transfer force) for each of the similar gripping movements illustrated in Figure 5 is about position 75 mm so the start position determined by the control system for the next or a subsequent gripping movement would also be about position 75 mm. If not for the solution according to the technology disclosed, the actuator for the series of gripping movement would repeatedly and always have been moved or backed out to position zero for the actuator.
  • the solution according to the technology disclosed where the actuator start position is determined based on a previously estimated actuator contact point therefore allows for faster and more well-timed machine output force response to a manually imparted force in situations when gripping tasks that are substantially similar are repeatedly and/or sequentially performed.
  • the above-described examples are freely combinable as applicable. Hence, the invention is not limited to the said embodiments, but can be varied across the full scope of the enclosed claims.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Vascular Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Prostheses (AREA)
  • Measuring Or Testing Involving Enzymes Or Micro-Organisms (AREA)

Abstract

La technologie divulguée concerne un gant de renforcement (100) présentant au moins un doigt de gant (101-105) et comprenant un système de commande (200) agencé pour renforcer un mouvement de préhension effectué par une main humaine portant le gant. Un moyen de capteur (210) est agencé pour détecter une force respective dans au moins un emplacement de mesure. Le système de commande (200) comprend au moins un actionneur (240) agencé pour communiquer une force à au moins un doigt respectif parmi les doigts de gant (101-105) et lire des valeurs de mesure de capteur respectives à partir du moyen de capteur (210). Le système commande la force de sortie de machine appliquée par ledit au moins un moyen d'actionnement (240) à l'aide d'une boucle de rétroaction de renforcement de force sur la base de valeurs de mesure de capteur lues à partir du moyen de capteur (210). Le gant de renforcement (100) et le système de commande (200) selon la technologie divulguée sont en outre conçus pour estimer un point de contact d'actionneur pour un actionneur d'un moyen d'actionnement (240) et déterminer et commander de manière adaptative la position de départ de l'actionneur (240) pour le mouvement de préhension suivant ou ultérieur sur la base du point de contact d'actionneur estimé.
PCT/SE2023/050477 2022-05-16 2023-05-15 Gant de renforcement, système de commande et procédés pour faire fonctionner un moyen d'actionnement Ceased WO2023224536A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE2250586-1 2022-05-16
SE2250586A SE546854C2 (en) 2022-05-16 2022-05-16 A system and method for strengthening a gripping movement

Publications (1)

Publication Number Publication Date
WO2023224536A1 true WO2023224536A1 (fr) 2023-11-23

Family

ID=88835632

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2023/050477 Ceased WO2023224536A1 (fr) 2022-05-16 2023-05-15 Gant de renforcement, système de commande et procédés pour faire fonctionner un moyen d'actionnement

Country Status (2)

Country Link
SE (1) SE546854C2 (fr)
WO (1) WO2023224536A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100249675A1 (en) * 2007-11-07 2010-09-30 Activelink Co., Ltd. Motion assist apparatus
US20120029399A1 (en) * 2009-04-09 2012-02-02 Yoshiyuki Sankai Wearable type movement assisting apparatus
US20130226350A1 (en) * 2012-02-29 2013-08-29 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Control of a glove-based grasp assist device
US20170071272A1 (en) * 2015-09-16 2017-03-16 The Regents Of The University Of California Passive mechanical exoskeleton to reduce hand fatigue
US20190101983A1 (en) * 2014-03-02 2019-04-04 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
US20200375287A1 (en) * 2019-06-01 2020-12-03 Virginia Tech Intellectual Properties, Inc. Robotic exoskeleton glove system
WO2021110062A1 (fr) * 2019-12-02 2021-06-10 深圳忆海原识科技有限公司 Système de commande de main dextre à entraînement antagoniste et à capteurs multiples
US20220004670A1 (en) * 2018-10-03 2022-01-06 Carnegie Mellon University Flexible Manipulation Device and Method for Fabricating the Same
US20220023133A1 (en) * 2018-12-12 2022-01-27 Tendo Ab Control of an active orthotic device
US20220040027A1 (en) * 2020-08-07 2022-02-10 XZO, Inc. Control and sensor system for devices assisting in joint flexion

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100249675A1 (en) * 2007-11-07 2010-09-30 Activelink Co., Ltd. Motion assist apparatus
US20120029399A1 (en) * 2009-04-09 2012-02-02 Yoshiyuki Sankai Wearable type movement assisting apparatus
US20130226350A1 (en) * 2012-02-29 2013-08-29 The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration Control of a glove-based grasp assist device
US20190101983A1 (en) * 2014-03-02 2019-04-04 Drexel University Wearable Devices, Wearable Robotic Devices, Gloves, and Systems, Methods, and Computer Program Products Interacting with the Same
US20170071272A1 (en) * 2015-09-16 2017-03-16 The Regents Of The University Of California Passive mechanical exoskeleton to reduce hand fatigue
US20220004670A1 (en) * 2018-10-03 2022-01-06 Carnegie Mellon University Flexible Manipulation Device and Method for Fabricating the Same
US20220023133A1 (en) * 2018-12-12 2022-01-27 Tendo Ab Control of an active orthotic device
US20200375287A1 (en) * 2019-06-01 2020-12-03 Virginia Tech Intellectual Properties, Inc. Robotic exoskeleton glove system
WO2021110062A1 (fr) * 2019-12-02 2021-06-10 深圳忆海原识科技有限公司 Système de commande de main dextre à entraînement antagoniste et à capteurs multiples
US20220040027A1 (en) * 2020-08-07 2022-02-10 XZO, Inc. Control and sensor system for devices assisting in joint flexion

Also Published As

Publication number Publication date
SE2250586A1 (en) 2023-11-17
SE546854C2 (en) 2025-02-25

Similar Documents

Publication Publication Date Title
EP3288721B1 (fr) Système de commande destiné à un gant de renforcement
EP3053711B1 (fr) Procédé de commande de main de robot et dispositif robotique
JP7836834B2 (ja) グリッパを制御する方法
JP4436479B2 (ja) 内視鏡、及びアングルワイヤの駆動方法
US20100032854A1 (en) Method and apparatus for controlling pressure in electric injection molding machine
Chiang et al. Tendon sheath analysis for estimation of distal end force and elongation
JP5541145B2 (ja) 運転者の疲労推定装置
EP4496526A1 (fr) Commande de force de préhension dans un système robotique chirurgical
JP4737099B2 (ja) ロボットおよびロボットの制御装置と制御方法
WO2023224536A1 (fr) Gant de renforcement, système de commande et procédés pour faire fonctionner un moyen d'actionnement
CN118845467A (zh) 一种新型智能针灸机器人的应用方法
JP2009119063A (ja) 牽引装置
Nikafrooz et al. Grasp control of a cable-driven robotic hand using a pvdf slip detection sensor
US6108589A (en) Wire-and-pully drive link mechanism and control system for driving the same
JP2021030341A (ja) ロボットハンド
WO2023224534A1 (fr) Gant de renforcement, système de commande et procédés de commande d'un gant de renforcement
JP2018001359A (ja) ハンドロボットの制御方法
WO2023224535A1 (fr) Gant de renforcement, système de commande et procédés de commande dynamique de la sensibilité d'un gant de renforcement
JP3638048B2 (ja) 肢体駆動装置の制御装置
US20250100162A1 (en) Gripping device, gripping system, and control method by gripping device
CN118393862A (zh) 用于控制手持式工具机的方法和手持式工具机
JP6532531B2 (ja) 医療用マニピュレータ制御装置
JP3147254B2 (ja) ロボット可動部の位置決め方法及びその装置
JP3143261B2 (ja) ロボットハンドの制御方法
JP2706743B2 (ja) ベルト伝動機構の制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23808005

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 23808005

Country of ref document: EP

Kind code of ref document: A1