A Soft Exoskeleton Glove Incorporating Motor-Tendon Actuator for Hand Movements Assistance
(*) Corresponding author
Hand paralysis can inhibit daily activities, for example, grasping a particular food or an object. With the advancement of science and technology today especially in wearable robot technology, normal hand function can be recovered with the help of wearable soft robotic glove. This robot has a mechanism that resembles the working mechanism of the hand itself. The purpose of this study is to develop a low-cost soft exoskeleton glove made from silicone rubber using a tendon-based mechanism. The molding of the soft glove is designed using SolidWorks CAD software. Dual-slack enabling actuators are designed and manufactured as the actuator system of the soft exoskeleton glove. The proposed actuator is used as flexion and extension motion for the human hand. This motion enables the soft exoskeleton glove to provide mechanical support for the human hand. A potentiometer sensor is used in the dual-slack enabling actuator for measuring the rotating angle of the actuator that is connected to the tendon and soft exoskeleton glove. The actuator is controlled using on-off and Proportional-Integral (PI) control. After the soft exoskeleton glove system is integrated, the soft robot is implemented on a healthy human hand to assist the grasping of various objects. The measurement for the wearable robot is performed by using serial communication between Arduino Nano microcontroller and the host computer. Based on the experimental results, the soft glove can successfully assist and support the user’s hand for various object grasping.
Copyright © 2020 Praise Worthy Prize - All rights reserved.
D. Trivedi; C.D. Rahn; W.M. Kier; and I. D. Walker (2008). Soft robotics: Biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics, Journal of Spacecraft and Rocket, 5(3), 99-117.
F. Ilievski; A. D. Mazzeo; R.F. Shepherd; X. Chen; and G. M. Whitesides. (2011). Soft Robotics for Chemists. Angewandte Chemie International Edition, 50(8), 1890–1895.
B. Mosadegh et al. (2014). Pneumatic Networks for Soft Robotics that Actuate Rapidly. Advanced Functional Materials, 24(15), 2163–2170.
Keiko Ogura; S. Wakimoto; K. Suzumori; and Yasutaka Nishioka. (2009). “Micro pneumatic curling actuator - Nematode actuator -,” in 2008 IEEE International Conference on Robotics and Biomimetics, 462–467.
P. Polygerinos et al. (2013). Towards a soft pneumatic glove for hand rehabilitation. Presented at the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1512–1517.
B. Wang; A. McDaid; K.C. Aw; and M. Biglari-Abhari. (2017). Design and Development of a Skinny Bidirectional Soft Glove for Post-Stroke Hand Rehabilitation. Presented at the 2017 Intelligent Systems Conference (IntelliSys), 9.
H.K. Yap; B.W.K. Ang; J.H. Lim; J.C.H. Goh; and C.-H. Yeow. A fabric-regulated soft robotic glove with user intent detection using EMG and RFID for hand assistive application, 2016 IEEE International Conference on Robotics and Automation (ICRA) 3537–3542.
H.K. Yap; Jeong Hoon Lim; F. Nasrallah; J.C.H. Goh; and R.C.H. Yeow. (2015). A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness, 2015 IEEE International Conference on Robotics and Automation (ICRA) 4967–4972.
H.K. Yap; J.C.H. Goh; and R.C.H. Yeow. (2015). Design and Characterization of Soft Actuator for Hand Rehabilitation Application. In 6th European Conference of the International Federation for Medical and Biological Engineering. I. Lacković and D. Vasic, Eds. Cham: Springer International Publishing, 45, 367–370.
S.-S. Yun; B.B. Kang; and K.-J. Cho. (2017). “Exo-Glove PM: An Easily Customizable Modularized Pneumatic Assistive Glove”. IEEE Robotics and Automation Letters, 2(3), 1725–1732.
P. Polygerinos; K.C. Galloway; S. Sanan; M. Herman; and C.J. Walsh. (2015). EMG controlled soft robotic glove for assistance during activities of daily living. Presented at the 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 55–60.
P. Polygerinos; Z. Wang; K.C. Galloway; R.J. Wood; and C.J. Walsh. (2015). Soft robotic glove for combined assistance and at-home rehabilitation. Robotics and Autonomous Systems, 73, 135–143.
A. Hadi; K. Alipour; S. Kazeminasab; and M. Elahinia. (2018). ASR glove: A wearable glove for hand assistance and rehabilitation using shape memory alloys. Journal of Intelligent Material Systems and Structures, 29(8), 1575–1585.
A. Villoslada; A. Flores; D. Copaci; D. Blanco; and L. Moreno. (2015). High-displacement flexible Shape Memory Alloy actuator for soft wearable robots. Robotics and Autonomous Systems, 73, 91–101.
H. In; B.B. Kang; M. Sin; and K.-J. Cho. (2015). Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System. IEEE Robotics & Automation Magazine, 22(1), 97–105.
B. Kim; H. In; D.-Y. Lee; and K.-J. Cho. (2017). Development and assessment of a hand assist device: GRIPIT. Journal of NeuroEngineering and Rehabilitation, 14(1),15.
L. Randazzo; I. Iturrate; S. Perdikis; and J. d. R. Millan. (2018). mano: A Wearable Hand Exoskeleton for Activities of Daily Living and Neurorehabilitation. IEEE Robotics and Automation Letters, 3(1), 500–507.
M. Xiloyannis; L. Cappello; Dinh Binh Khanh; Shih-Cheng Yen; and L. Masia. (2016). Modelling and design of a synergy-based actuator for a tendon-driven soft robotic glove, presented at the 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 1213–1219.
Ismail, R.; Ariyanto, M.; Perkasa, I.A.; Adirianto, R.; Putri, F.T.; Glowacz, A.; Caesarendra, (2019), Wearable Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator. Electronics, 8, 1184.
Tumbuan, T., Nurprasetio, I., Indrawanto, I., Abidin, Z., Stable PID Control Strategy to Remove Limit Cycle Due to Stribeck Friction on DC Servo Motor, (2018) International Review of Automatic Control (IREACO), 11 (4), pp. 208-216.
Munadi, M; Nasir, M. S;, Ariyanto, M;, Iskandar, N;, & Setiawan, J. D. (2018). Design and simulation of PID controller for lower limb exoskeleton robot. In AIP Conference Proceedings, 1983(1),060008.
Tumbuan, T., Nurprasetio, I., Indrawanto, I., Abidin, Z., Revisiting the Kalman’s Conjecture to Stabilize the Motion of a DC Motor in the Presence of Stribeck Friction via PID Control, (2019) International Review of Automatic Control (IREACO), 12 (1), pp. 48-58.
Maarif, A., Iskandar, S., Iswanto, I., New Design of Line Maze Solving Robot with Speed Controller and Short Path Finder Algorithm, (2019) International Review of Automatic Control (IREACO), 12 (3), pp. 154-162.
Akgun, G;, Cetin, A.E;. and Kaplanoglu, E., (2020). Exoskeleton design and adaptive compliance control for hand rehabilitation. Transactions of the Institute of Measurement and Control, 42(3), 493-502.
Zhang, F;, Lin, L; Yang, L;. and Fu, Y;, (2019). Design of an active and passive control system of hand exoskeleton for rehabilitation. Applied Sciences, 9(11), p.2291.
Mohammed, M., Miskon, M., Abdul Jalil, M., Smooth Sub-Phases Based Trajectory Planning for Exoskeleton System, (2017) International Review of Electrical Engineering (IREE), 12 (3), pp. 267-276.
- There are currently no refbacks.
Please send any question about this web site to firstname.lastname@example.org
Copyright © 2005-2023 Praise Worthy Prize