Force transmission in joint-less tendon driven wearable robotic hand

This paper presents the design analysis and the fabrication process of Tendon Anchoring Support(TA Support). TA Support is developed to deliver the wire tension effectively to target actuation point, fingertip, while developing SNU Exo-Glove, which is joint-less tendon driven robot. Based on the force analysis of SNU Exo-Glove, TA Support was developed with several design considerations, especially customization to maximize force transmission. For that, fabrication process for customization to patient's hand has been established and introduced in this paper. To check the viability of customization, pressure measurement experiment has been performed. Engineers developing the soft wearable robot with tendon driven mechanism will always encounter force transmission problem, delivering force from actuator to target actuation point, as stated in this paper and this paper can suggest one possible effective solution.