United States of America As Represented by the Administrator of Nasa

Gm Global Technolgoy Operations, Inc.

Other

Evan Laske

Jonathan M Rogers

Emily R McBryan

Benjamin J Peters

Chris A Ihrke

Donald R Davis

Adam M Sanders

Douglas Martin Linn

Bryan J Bergelin

R Scott Askew

Kody Ensley

A grasp assist system includes a glove, finger saddles attached to a respective glove finger, one or more tendon actuators, and artificial tendons. The saddles have a rectangular body partially circumscribing a respective glove finger. Each saddle includes end lobes at opposite distal ends of the body. A first end of each tendon is secured to one of the tendon actuators. A second end forms a triple Brummel loop defining a main loop and two anchor loops. The anchor loops are disposed around the lobes. The saddles may form a rounded, double-headed arrow shape that is at least double the thickness of the body. The finger saddles are anisotropic, with different bending strengths depending on the axis, and may be constructed of thermoplastic polyurethane-coated nylon. Flexion and/or contact sensors and a controller may be used. A method of connecting the tendon actuator to the finger is also disclosed.

Grasp assist system with triple brummel soft anchor

A grasp assist system includes a glove having a glove palm and fingers, with the glove worn on a user's hand. A sensor measures flexion of the glove fingers, and thus a change of position and/or attitude of the fingers is determined. Finger saddles at least partially surround a phalange of a respective one of the user's fingers. The system uses one or more tendon actuators to pull on flexible tendons. Each tendon connects to a respective finger saddle. A controller is in communication with the actuators and sensor(s). The glove may use feedback from optional contact sensors to adjust tension, and may have a built-in restorative force. In executing a control method, the controller selectively applies tension to the tendons in response to finger flexion, via the tendon actuators, at a level sufficient for moving the user's fingers when the user executes a hand maneuver.

Method for controlling a grasp assist system

A grasp assist system includes a glove, finger saddles attached to a respective glove finger, one or more tendon actuators, and artificial tendons. The saddles have a rectangular body partially circumscribing a respective glove finger. Each saddle includes end lobes at opposite distal ends of the body. A first end of each tendon is secured to one of the tendon actuators. A second end forms a triple Brummel loop defining a main loop and two anchor loops. The anchor loops are disposed around the lobes. The saddles may form a rounded, double-headed arrow shape that is at least double the thickness of the body. The finger saddles are anisotropic, with different bending strengths depending on the axis, and may be constructed of thermoplastic polyurethane-coated nylon. Flexion and/or contact sensors and a controller, may be used. A method of connecting the tendon actuator to the finger is also disclosed.

Grasp assist system with triple Brummel soft anchor

Grasp assist system

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Grasp assist device with automatic mode control logic

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.

Control of a glove-based grasp assist device

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Webster, TX, United States of America

Evan Laske