scholarly journals Development and Control of Hand Exoskeleton System Using Intended Movement

2021 ◽  
Author(s):  
Shahrol Mohamaddan ◽  
Herman Khamis ◽  
Annisa Jamali ◽  
Saidatul Ardeenawatie Awang ◽  
Noor Ayuni Che Zakaria ◽  
...  
Keyword(s):  
Hand Exoskeleton ◽  
And Control

Development of a soft cable-driven hand exoskeleton for assisted rehabilitation training

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Dawen Xu ◽  
Qingcong Wu ◽  
Yanghui Zhu
Keyword(s):  
Muscle Activation ◽  
Control Strategies ◽  
Motor Dysfunction ◽  
Force Transmission ◽  
Content Type ◽  
Rehabilitation Training ◽  
Local Structures ◽  
Hand Exoskeleton ◽  
And Control

Purpose Hand motor dysfunction has seriously reduced people’s quality of life. The purpose of this paper is to solve this problem; different soft exoskeleton robots have been developed because of their good application prospects in assistance. In this paper, a new soft hand exoskeleton is designed to help people conduct rehabilitation training. Design/methodology/approach The proposed soft exoskeleton is an under-actuated cable-driven mechanism, which optimizes the force transmission path and many local structures. Specifically, the path of force transmission is optimized and cables are wound around cam-shaped spools to prevent cables lose during fingers movement. Besides, a pre-tightening system is presented to adjust the preload force of the cable-tube. Moreover, a passive brake mechanism is proposed to prevent the cables from falling off the spools when the remote side is relaxed. Findings Finally, three control strategies are proposed to assist in rehabilitation training. Results show that the average correlation coefficient of trajectory tracking is 90.99% and this exoskeleton could provide steady clamping force up to 35 N, which could meet the demands of activities in daily living. Surface electromyography (sEMG)-based intention recognition method is presented to complete assistance and experiments are conducted to prove the effectiveness of the assisted grasping method by monitoring muscle activation, finger angle and interactive force. Research limitations/implications However, the system should be further optimized in terms of hardware and control to reduce delays. In addition, more clinical trials should be conducted to evaluate the effect of the proposed rehabilitation strategies. Social implications May improve the ability of hemiplegic patients to live independently. Originality/value A novel under-actuated soft hand exoskeleton structure is proposed, and an sEMG-based auxiliary grasping control strategy is presented to help hemiplegic patients conduct rehabilitation training.

Design of Hand Exoskeleton for Paralysis with Voice Pattern Recognition Control

2021 ◽  
Vol 50 ◽  
pp. 51-58
Author(s):  
T. Triwiyanto ◽  
Moch Prastawa Assalim Tetra Putra ◽  
Priyambada Cahya Nugraha ◽  
Bambang Guruh Irianto ◽  
Syaifudin ◽  
...  
Keyword(s):  
Pattern Recognition ◽  
Control System ◽  
Human Hand ◽  
Accuracy Rate ◽  
Push Button ◽  
Voice Command ◽  
Average Accuracy ◽  
Hand Exoskeleton ◽  
And Control ◽  
The Voice

The paralysis that occurs in the human limbs can be caused by strokes, injuries, age problems, and ligament damage. The purpose of this study is to design a hand exoskeleton as rehabilitation in patients who have had a stroke in hand. The contribution of this research is to design a hand exoskeleton with a control system to control mechanical movements using voice command so that it can be used by patients who have a stroke. To be used by patients who have a stroke, the researcher designed a control system using voice pattern recognition so that patients who have weak myoelectric signals can control the mechanics easily. This device uses the voice recognition module V3 as a voice command to control open and control close mechanical movements. This device is capable of recording and running commands directly by using the push button, which consists of a start, save, reset, open command record, and close command record. In the open command obtained an accuracy value of 97%, the close command obtained an accuracy value of 93%. The results showed that the voice commands given had an average accuracy rate of 95%. The results of this study can be implemented as a rehabilitation device for people who have had a stroke to try to mimic human hand movements.

Design and Control of a Novel Grip Amplifier to Support Pinch Grip with a Minimal Soft Hand Exoskeleton

2018 ◽  
Author(s):  
Quentin Sanders ◽  
Shusuke Okita ◽  
Joan Lobo-Prat ◽  
Diogo Schwerz De Lucena ◽  
Brendan W. Smith ◽  
...  
Keyword(s):  
Pinch Grip ◽  
Hand Exoskeleton ◽  
And Control

scholarly journals A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

2019 ◽  
Author(s):  
Raghuraj J. Chauhan ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Series Elastic Actuator ◽  
Single Finger ◽  
Recent Trends ◽  
Hand Exoskeleton ◽  
Soft Actuators ◽  
Input Motion ◽  
High Level ◽  
And Control ◽  
Actuator Design ◽  
Series Elastic

Abstract This paper presents the design of a series elastic actuator and a higher level controller for said actuator to assist the motion of a user’s hand in a linkage based hand exoskeleton. While recent trends in the development of exoskeleton gloves has been to exploit the advantages of soft actuators, their size and power requirements limit their adoption. On the other hand, a series elastic actuator can provide compliant assistance to the wearer while remaining compact and lightweight. Furthermore, the linkage based mechanism integrated with the SEA offers repeatability and accuracy to the hand exoskeleton. By measuring the user’s motion intention through compression of the elastic elements in the actuator, a virtual dynamic system can be utilized that assists the users in performing the desired motion while ensuring the motion stability of the overall system. This work describes the detailed design of the actuator followed by performance tests using a simple PD controller on the integrated robotic exoskeleton prototype. The performance of the proposed high level controller is tested using the integrated exoskeleton glove mechanism for a single finger, using two types of input motion. Preliminary results are discussed as well as plans for integrating the proposed actuator and high level controller into a complete hand exoskeleton prototype to perform intelligent grasping.

scholarly journals Exoskeleton Hand Control by Fractional Order Models

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4608 ◽  
Author(s):  
Ivanescu ◽  
Popescu ◽  
Popescu ◽  
Channa ◽  
Poboroniuc
Keyword(s):  
Asymptotic Stability ◽  
Fractional Order ◽  
Closed Loop ◽  
Closed Loop System ◽  
Control Laws ◽  
Lyapunov Techniques ◽  
Hand Control ◽  
Complex Models ◽  
Hand Exoskeleton ◽  
And Control

This paper deals with the fractional order control for the complex systems, hand exoskeleton and sensors, that monitor and control the human behavior. The control laws based on physical significance variables, for fractional order models, with delays or without delays, are proposed and discussed. Lyapunov techniques and the methods that derive from Yakubovici-Kalman-Popov lemma are used and the frequency criterions that ensure asymptotic stability of the closed loop system are inferred. An observer control is proposed for the complex models, exoskeleton and sensors. The asymptotic stability of the system, exoskeleton hand-observer, is studied for sector control laws. Numerical simulations for an intelligent haptic robot-glove are presented. Several examples regarding these models, with delays or without delays, by using sector control laws or an observer control, are analyzed. The experimental platform is presented.

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