Slider-type wire actuator for underactuation and glove-type wearable robot equipped with the same

This technology is a slider-type wire actuator and a glove-type wearable robot equipped with it, which converts the rotational motion of a drive motor into the linear motion of a slider via a drive wire, and distributes the tension of a driven wire through a driven pulley and driven bearing mounted on the slider to perform underactuation.

Wire-driven underactuated robots have historically faced issues such as reduced power transmission efficiency and component wear due to friction caused by slippage between the wire and contact points, as well as increased production costs due to structural complexity.

This technology proposes a method to minimize friction between the wire and the structure by equipping the slider with a driven pulley and driven bearing, ensuring that the wire only slips within the bearing. The linear drive unit, utilizing a drive pulley and drive wire, reduces mechanical volume and production costs. It can be applied to rehabilitation glove robots and industrial gripping devices, providing a practical solution that enhances durability by reducing friction loss and component wear while lowering manufacturing costs.

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Key Features:

• Drive wire and drive pulley that convert the rotational motion of the drive motor into linear motion
• Slider that moves linearly via the drive wire
• Driven pulley and driven bearing mounted on the slider to distribute the tension of the driven wire
• Elastic member positioned between the slider and the support body to provide restoring force