A Lightweight Exoskeleton Force Feedback Glove
The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs on...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/5/199 |
| _version_ | 1797818870986178560 |
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| author | Shigang Peng Meng Yu Xinyu Geng Xiang Cheng Pengfei Wang |
| author_facet | Shigang Peng Meng Yu Xinyu Geng Xiang Cheng Pengfei Wang |
| author_sort | Shigang Peng |
| collection | DOAJ |
| description | The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs only 278 g. The glove features a bionic structure and optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, a detailed illustration of the kinematic and dynamic analyses, as well as the circuit structure, was presented. With this prototype as the basis, an isomorphic teleoperation system is designed to achieve force feedback during teleoperation. Concurrently, a driving force-based impedance controller was proposed to enable smooth and precise force feedback. Finally, the performance of the EFFG prototype was evaluated in both unconstrained and constrained environments, demonstrating that the proposed glove is lightweight, capable of detecting driving force, and provides flexible force feedback. |
| first_indexed | 2024-03-13T09:14:29Z |
| format | Article |
| id | doaj.art-be3734e474194aafb76dbfe732674b85 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-13T09:14:29Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-be3734e474194aafb76dbfe732674b852023-05-26T13:20:25ZengMDPI AGActuators2076-08252023-05-011219919910.3390/act12050199A Lightweight Exoskeleton Force Feedback GloveShigang Peng0Meng Yu1Xinyu Geng2Xiang Cheng3Pengfei Wang4Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaChina Academy of Aerospace Science and Innovation, Beijing 100176, ChinaChina Academy of Aerospace Science and Innovation, Beijing 100176, ChinaChina Academy of Aerospace Science and Innovation, Beijing 100176, ChinaThe wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs only 278 g. The glove features a bionic structure and optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, a detailed illustration of the kinematic and dynamic analyses, as well as the circuit structure, was presented. With this prototype as the basis, an isomorphic teleoperation system is designed to achieve force feedback during teleoperation. Concurrently, a driving force-based impedance controller was proposed to enable smooth and precise force feedback. Finally, the performance of the EFFG prototype was evaluated in both unconstrained and constrained environments, demonstrating that the proposed glove is lightweight, capable of detecting driving force, and provides flexible force feedback.https://www.mdpi.com/2076-0825/12/5/199exoskeletonforce feedbackteleoperation |
| spellingShingle | Shigang Peng Meng Yu Xinyu Geng Xiang Cheng Pengfei Wang A Lightweight Exoskeleton Force Feedback Glove Actuators exoskeleton force feedback teleoperation |
| title | A Lightweight Exoskeleton Force Feedback Glove |
| title_full | A Lightweight Exoskeleton Force Feedback Glove |
| title_fullStr | A Lightweight Exoskeleton Force Feedback Glove |
| title_full_unstemmed | A Lightweight Exoskeleton Force Feedback Glove |
| title_short | A Lightweight Exoskeleton Force Feedback Glove |
| title_sort | lightweight exoskeleton force feedback glove |
| topic | exoskeleton force feedback teleoperation |
| url | https://www.mdpi.com/2076-0825/12/5/199 |
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