抄録
In this paper, a grip amplified glove consists of pneumatic artificial rubber muscles (PARMs) which are covered with an exoskeleton structure is developed. A bi-rticular mechanism with a PARM that is suitable for bending finger is realized. The glove has totally 10 DOFs consist of four units. To achieve power-assist motion properly, a PI control, which is based on the pressure value from the balloon sensor, is applied. Synchronized actuation of the PARMs adds to the user's own movements provides power and support the grasping. As the balloon type sensors are used, electric circuits can be separated from the finger parts that have advantage in the use of hostile environment. To evaluate the validity of the glove, the skin surface electromyography (EMG) signals of muscles are measured during grasping. These results demonstrate that the eff ectiveness of the power amplified glove.
