義手把持力フィードバックのためのウォッチバンド型柔軟アクチュエータの試作

抄録

The watchband-type device shaped like an index finger and thumb was proposed. The bands can bend like a finger grasping motion by feeding air into inside of the band. Therefore, these finger-like bands are able to provide pressure on prosthesis user’s intact wrist by wrapping around the wrist with a force proportional to the hand prosthesis grasping power. In this way, the proposed device can intuitively convey the prosthesis grasping force to the user. The band was made from thermoplastic copolyester elastomer using a three-dimensional printer. The pressing forces and motion of the prototype were investigated experimentally. The results show that the device achieved sufficient bending angle for the wrist wrapping and had linear relationship between pressing force and air pressure.