A Lightweight Exoskeleton Force Feedback Glove

Author:

Peng Shigang12ORCID,Yu Meng3,Geng Xinyu2,Cheng Xiang2ORCID,Wang Pengfei24

Affiliation:

1. Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China

2. China Academy of Aerospace Science and Innovation, Beijing 100176, China

3. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

4. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 713599, China

Abstract

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.

Funder

National Natural Science Foundation of China

Program 173

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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