A FORCE-CONTROLLABLE ACTUATOR MODULE FOR A WEARABLE HAND EXOSKELETON AND A HAND EXOSKELETON SYSTEM USING THE MODULE

摘要

SUMMARY OF THE INVENTION It is a general object of the present invention to provide a force control driver module for a hand exoskeleton structure that is compact enough to ensure natural movement of a hand and capable of accurately transmitting a predetermined interaction force from a virtual object to a user.To achieve these and other advantages and in accordance with the purpose of the present invention, a force control driver module for a hand exoskeleton system includes a first potentiometer configured to measure a position of a finger link structure; A second potentiometer configured to measure a position of the actuator, the second potentiometer being embedded in the linear motor; And an elastic member provided between the driver and the finger link structure, wherein the elastic member functions as a force sensor, and a force transmitted from the actuator is measured by deflection of the elastic member .;