Design and testing of fabric-based portable soft exoskeleton glove for hand grasping assistance in daily activity

IF 2.1 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC HardwareX Pub Date : 2024-06-01 Epub Date: 2024-05-07 DOI:10.1016/j.ohx.2024.e00537

Rifky Ismail , Mochammad Ariyanto , Joga D. Setiawan , Taufik Hidayat , Paryanto , Limbang K. Nuswantara

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Abstract

Hand exoskeleton robots have been developed as rehabilitation robots and assistive devices. Based on the material used, they can be soft or hard exoskeletons. Soft materials such as fabric can be used as a component of the wearable robot to increase comfortability. In this paper, we proposed an affordable soft hand exoskeleton based on fabric and motor-tendon actuation for hand flexion/extension motion assistance in daily activities. On-off control and PI compensator were implemented to regulate finger flexion and extension of the soft exoskeleton. The controllers were embedded into a microcontroller using Simulink software. The input signal command comes from the potentiometer and electromyography (EMG) sensor to drive the flexion/extension movement. Based on the experiments, the proposed controller successfully controlled the exoskeleton hand to facilitate a user in grasping various objects. The proposed soft hand exoskeleton is lightweight, comfortable, portable, and affordable, making it easily manufactured using available hardware and open-source code. The developed soft exoskeleton is a potential assistive device for a person who lost the ability to grasp objects.

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设计和测试织物便携式软外骨骼手套，用于在日常活动中辅助手部抓握

手部外骨骼机器人已被开发为康复机器人和辅助设备。根据所使用的材料，它们可以是软外骨骼，也可以是硬外骨骼。织物等软材料可用作可穿戴机器人的组件，以提高舒适性。在本文中，我们提出了一种经济实惠的软质手部外骨骼，它基于织物和电机肌腱驱动，可在日常活动中辅助手部屈伸运动。我们采用了开关控制和 PI 补偿器来调节软外骨骼的手指屈伸。控制器通过 Simulink 软件嵌入到微控制器中。输入信号指令来自电位计和肌电图（EMG）传感器，用于驱动屈伸运动。根据实验结果，所提出的控制器成功地控制了外骨骼手，方便用户抓取各种物体。所提出的软手外骨骼重量轻、舒适、便携、价格低廉，可以利用现有硬件和开源代码轻松制造。所开发的软外骨骼对于失去抓握物体能力的人来说是一种潜在的辅助设备。

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来源期刊

HardwareX Engineering-Industrial and Manufacturing Engineering

CiteScore

4.10

自引率

18.20%

发文量

124

审稿时长

24 weeks

期刊介绍： HardwareX is an open access journal established to promote free and open source designing, building and customizing of scientific infrastructure (hardware). HardwareX aims to recognize researchers for the time and effort in developing scientific infrastructure while providing end-users with sufficient information to replicate and validate the advances presented. HardwareX is open to input from all scientific, technological and medical disciplines. Scientific infrastructure will be interpreted in the broadest sense. Including hardware modifications to existing infrastructure, sensors and tools that perform measurements and other functions outside of the traditional lab setting (such as wearables, air/water quality sensors, and low cost alternatives to existing tools), and the creation of wholly new tools for either standard or novel laboratory tasks. Authors are encouraged to submit hardware developments that address all aspects of science, not only the final measurement, for example, enhancements in sample preparation and handling, user safety, and quality control. The use of distributed digital manufacturing strategies (e.g. 3-D printing) is encouraged. All designs must be submitted under an open hardware license.