论文标题
手动外骨骼的设计，实施和控制
Design, Implementation and Control of an Underactuated Hand Exoskeleton
论文作者
论文摘要
我介绍了一种新型，基于连锁的手动外骨骼的设计，实施和控制，旨在在掌握机器人辅助物理康复或机器人辅助日常生活中的掌握任务时协助手部残疾患者。即使设计的外骨骼的设计目的是在与周围的真实对象进行交互期间协助用户，但它的使用也可以用于触觉应用程序。在本论文中，我将深入提及文献中的外骨骼，详细介绍设计决策并实施各种控制策略，以便将来将这种外骨骼用于不同的应用。
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted activities of daily living. Even though the proposed exoskeleton was designed with the purpose of assisting users during interactions with real objects around them, its use can be extended for haptic applications as well. In this thesis, I will deeply mention the exoskeletons in the literature, detail the design decisions and implement various control strategies to use this exoskeleton for different applications in the future.
