Wearable Finger Driving Device with Dual Force Sensors
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Solution Overview
Problem
Existing driving devices worn on hands to assist finger movements struggle to accurately detect the intention behind flexing or spreading finger joints, leading to inadequate support for these motions.
Innovation Solution
A driving device equipped with a wearable mechanism, actuator, and first and second force sensors that detect force differences to determine the motion state of the finger, allowing the actuator to assist the movement by adjusting its driving based on the detected values, thereby accurately supporting bending and spreading motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensors are added to detect finger motion intention, then motion detection accuracy is improved, but device complexity increases
Solution Approach 1:
The finger is divided into multiple measurement sections (proximal, middle, distal phalanges) with force sensors placed at specific locations. Each sensor segment detects local force changes, and the control unit integrates these segmented measurements to determine overall finger motion intention, improving detection accuracy while keeping individual sensors simple
Solution Approach 2:
A control unit serves as an intermediary that processes force sensor signals and generates actuator drive signals. This intermediary component translates raw force data into meaningful motion commands, enabling accurate intention detection without requiring complex sensor systems
2Productivity
If actuator drives wearable mechanism based on force sensor values, then motion assistance is improved, but energy consumption increases
Solution Approach 1:
The actuator operates dynamically by continuously adjusting its drive level based on real-time force sensor feedback. The system provides variable assistance - driving strongly when motion intention is detected, maintaining position when force values indicate stability, and reducing drive when no motion is needed - optimizing energy consumption while maintaining effective motion assistance
Solution Approach 2:
The system uses force sensor outputs as feedback to control actuator operation. The control unit monitors force values and adjusts actuator drive signals accordingly, creating a closed-loop control system that provides motion assistance only when and where needed, reducing unnecessary energy consumption
3Measurement precision
If multiple force sensors are placed on wearable mechanism, then motion state detection is improved, but manufacturing cost increases
Solution Approach 1:
Force sensors are placed at specific local positions (dorsal and ventral sides of finger segments) where they provide maximum measurement value for detecting finger motion intention. This targeted placement ensures high detection precision while minimizing the total number of sensors required, controlling manufacturing costs
Data Source
AI summary
A driving device includes a wearable mechanism that is worn on a wearing part, an actuator that drives the wearable mechanism, and first and second force sensors that are provided on the wearable mechanism and detect a force. The first and second force sensors are provided at positions at which a first detected value obtained from the first force sensor and a second detected value obtained from the second force sensor are changed in response to a motion of the wearing part. When a difference between the first and second detected values is less than a pre-decided first threshold value and the first or second detected value is greater than a pre-decided second threshold value, the actuator drives the wearable mechanism so that the second detected value is constant.