Strengthening glove
A finger glove for use in gripping movements with one or more fingers of a human hand enclosed in the glove. The glove includes glove fingers and a palm. At least one glove finger is adapted to include on each side an artificial tendon that extends along an inside of the glove. A yoke is fitted in a tip of the at least one glove finger and intended to surround a tip of an enclosed finger. At each side of the glove finger artificial tendons are connected to the yoke. A system including the finger glove having a force detecting sensor is situated on the inside of the at least one glove finger and is adapted to detect a force between a finger enclosed in the glove finger and a contact surface applied to the finger. The artificial tendons for a glove finger are connected to at least one actuator and a control unit adapted to cause the at least one actuator to exert a pulling force on the artificial tendons of the glove finger based on a force detected in the force detecting sensor, whereby the finger enclosed in the glove finger is caused to bend.
1. A system for strengthening a gripping movement performed with at least one finger of a human hand enclosed in a glove, the system comprising:
a glove comprising
glove fingers,
a palm,
artificial tendons for at least one glove finger, the artificial tendons extending along an inside of the glove,
ducts fixed to the sides of the at least one glove finger, the artificial tendons running through the ducts, and
wherein the artificial tendons surround the tip of a finger enclosed in the at least one glove finger, and
wherein the ducts are arranged such that the artificial tendons extend at a distance from axes of joints of a finger enclosed in the at least one glove finger, wherein the distance of the artificial tendons from the axes of the joints increases as distance to the palm decreases,
whereby a pulling force exerted on the artificial tendons of the at least one glove finger bends the finger enclosed in the at least one glove finger inwards towards the palm;
a force detecting sensor situated on the inside of the glove finger arranged to detect a force between a finger enclosed in the glove finger and a contact surface applied to said finger,
the artificial tendons for a glove finger being connected to at least one actuator, and
a control unit arranged to cause said at least one actuator to exert a pulling force on the artificial tendons of said at least one glove finger on the basis of a force detected by the force detecting sensor, whereby a finger enclosed in said at least one glove finger is caused to bend, as the enclosed finger balances pushing forces which occur along the finger from the pulling force in said artificial tendons.
2. The system according to claim 1 , wherein the control unit is adapted to cause an actuator to exert a pulling force on the artificial tendons of at least one glove finger.
3. The system according to claim 1 , wherein the control unit is adapted to cause at least one actuator to exert a pulling force on the artificial tendons of only one glove finger.
4. The system according to claim 1 , wherein the control unit is adapted to cause an actuator to exert a pulling force on only the artificial tendons connected to the glove finger on the inside of which the force detecting sensor which detects said force is situated.
5. The system according to claim 1 , wherein said force detecting sensor, said actuator and the control unit are comprised in a feedback loop, whereby the control unit comprises an electronic circuit comprising a processor programmed with a transmission function.
6. The system according to claim 1 , wherein said force detecting sensor measures the whole or part of the force which occurs between said finger and said contact surface.
7. The system according to claim 5 , wherein the detected force is scaled by a scale factor in the transmission function and is converted to a reference force for said controlled actuator.
8. The system according to claim 7 , further comprising:
a variator connected to the electronic circuit, wherein the variator is used for setting the scale factor.
9. The system according to claim 5 , wherein the transmission function controls the setting of pulling force to the respective glove finger via the actuator.
10. The system according to claim 1 , wherein an actuator comprises an electric motor connected to a winding or linear device for the artificial tendons.