Kinematic Modeling and Prototype Experiment of Flexible Supernumerary Robotic Finger

摘要

This paper presents a wearable flexible supernumerary robotic finger system that can coordinate with the disabled arm. The structure design of the supernumerary robotic finger was completed. The kinematics model of the supernumerary robotic finger bending and grasping objects was established, and the positive and inverse kinematic mapping relationships among the tensile displacement of the driving rope, knuckle joint angle and the pose of the end knuckle were obtained. The prototype body, driving and control modules of the supernumerary finger system are designed, and the bending motion simulation and enveloping grasping experiments are carried out. The simulation and experimental results show that the supernumerary robotic finger system can realize the enveloping grasping of objects with different shapes stably, which proves the rationality of the theoretical modeling and structural design in this paper.