Development of a Robotic Glove Powered by Incompressible Variable-Length Threads

In this article, it is presented a computer and mathematical modeling of a robotic glove whose drive system consists of threads of adjustable length. The purpose of the work is to construct a relationship between the length of the thread within the control range and the moment acting on the link and arising due to the bending of the thread. Based on the results of 3D modeling and the construction of a dynamics model, the dependences of the angle between the links of the fingers of the glove were constructed depending on the length of the thread. Recommendations were given for selecting the angular stiffness of the elastic element fixed between the links, with given restrictions on the angle between the links and changes in the length of the thread. A mathematical model of the plane movement of one finger of a robotic glove has been constructed.