KR-20260062661-A - Design of a Force-Relief System for Control in a Grip-Assisting Exoskeleton Glove

Abstract

The present invention relates to a grip force relief system applied to a hand-assisted exoskeleton robot, and aims to provide a device and method capable of releasing a grip force applied to a finger. The system of the present invention applies a grip force to a user's finger through a steel wire and a servo motor mounted on the user's finger, and releases the grip force by inducing rotation of the servo motor in the opposite direction when the user performs the action of extending the little finger. To this end, the present invention includes a sensor that detects the bending and extension of the little finger in real time, and a control unit that reverses the rotation direction of the servo motor to loosen the tension when the little finger is extended. Through this configuration, the present invention enables the user to quickly release the grip force applied by the exoskeleton robot with only a simple finger movement, even while the user is gripping the hand, and enables natural hand movement and grip force control. The present invention significantly improves practicality as a rehabilitation aid and grip force assist device by enabling the hand exoskeleton robot to immediately relieve unnecessary pressure applied to the user's finger in various situations.

Inventors

• 곽태원

Assignees

• 곽태원

Dates

Publication Date

20260507

Application Date

20241029

Claims (1)

1. A hand assist exoskeleton robot system comprising a motor within an actuator mounted on a user's hand to apply a grip force to the user's hand, wherein the hand assist exoskeleton robot system comprises a sensor and an algorithm that detect the bending and extension of a little finger in real time, and a control unit that controls the motor to perform a motion to release the grip force applied to the user's hand when the extension of the little finger is detected by the sensor, thereby releasing the grip force applied to the user's hand.

Description

Design of a Force-Relief System for Control in a Grip-Assisting Exoskeleton Glove The present invention relates to a grip force release system applied to an exoskeleton assistive robot of a hand, and more particularly to a device and control method for releasing the grip force of an exoskeleton robot by detecting a specific movement of a finger. Existing exoskeleton robot systems can assist finger movements to increase grip strength or perform force measurement and transmission functions for rehabilitation purposes. However, there have been limitations in how users can control the exoskeleton robot while it applies strong force to the hand. For example, if the force needs to be released immediately when clenching the hand, the user can turn off or readjust the assistive device, but a system that allows the grip strength to be released through natural finger movements has not yet been developed. 1. When the user clenches their hand to perform the action of grasping an arbitrary object, the exoskeleton robot It provides additional grip strength to the user's hand. 2. When the user extends their little finger, the sensor detects this, and the hand exoskeleton robot's It sends a signal to release the force applied to the actuator. 3. The actuator performs the opposite movement, and the hand grip is automatically released.