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

IF 4.6 Q2 MATERIALS SCIENCE, BIOMATERIALS
Rifky Ismail , Mochammad Ariyanto , Joga D. Setiawan , Taufik Hidayat , Paryanto , Limbang K. Nuswantara
{"title":"Design and testing of fabric-based portable soft exoskeleton glove for hand grasping assistance in daily activity","authors":"Rifky Ismail ,&nbsp;Mochammad Ariyanto ,&nbsp;Joga D. Setiawan ,&nbsp;Taufik Hidayat ,&nbsp;Paryanto ,&nbsp;Limbang K. Nuswantara","doi":"10.1016/j.ohx.2024.e00537","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":2,"journal":{"name":"ACS Applied Bio Materials","volume":null,"pages":null},"PeriodicalIF":4.6000,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2468067224000312/pdfft?md5=690594c946e9381c7ab64d4066230c14&pid=1-s2.0-S2468067224000312-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACS Applied Bio Materials","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2468067224000312","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MATERIALS SCIENCE, BIOMATERIALS","Score":null,"Total":0}
引用次数: 0

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.

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。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
ACS Applied Bio Materials
ACS Applied Bio Materials Chemistry-Chemistry (all)
CiteScore
9.40
自引率
2.10%
发文量
464
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信