Search Results (8)

Over the past few years, interest in wearable exoskeleton gloves has grown. These tools can be used to help those who are healthy or to support those who have neurological and musculoskeletal conditions like stroke, spinal cord injury, etc. The hand, which is the human body’s most flexible limb, encounters more difficult problems and recovers considerably more slowly than the lower and upper limbs. In light of these difficulties, a novel therapy called exoskeleton-based rehabilitation has gained increased significance. In this work, we concentrate on creating a wearable exoskeleton glove that is inexpensive to improve the user’s grasping abilities. The tool significantly raises the user’s gripping capacity, which raises their quality of life. The exoskeleton glove is designed to assist human hands with limited mobility during the motion rehabilitation process and to improve the grasping and dexterous manipulation capabilities of the hands of both impaired and able-bodied individuals. The proposed model consists of two types of systems, mainly the tendon driven system and the pneumatic system. The tendon-driven system is the system that helps in the flexion and extension movements of the hand. The efficiency of the exoskeleton glove is evaluated by performing the basic movements of hand like abduction, adduction, flexion, and extension. The developed hybrid exoskeleton glove can efficiently enhance the grasping capabilities of its users, offering, affordable, lightweight and easy-to-operate solutions that can assist in the execution of activities of daily living (ADL). Full article

This study proposes the design and application of wearable gloves that can recognize sign language expressions from input images via long short-term memory (LSTM) network models and can learn sign language through finger movement generation and vibration motor feedback. It is difficult for nondisabled people who do not know sign language to express sign language accurately. Therefore, we suggest the use of wearable gloves for sign language education to help nondisabled people learn and accurately express sign language. The wearable glove consists of a direct current motor, a link (finger exoskeleton) that can generate finger movements, and a flexible sensor that recognizes the degree of finger bending. When the coordinates of the hand move in the input image, the sign language motion is fed back through the vibration motor attached to the wrist. The proposed wearable glove can learn 20 Korean sign language words, and the data used for learning are configured to represent the joint coordinates and joint angles of both the hands and body for these 20 sign language words. Prototypes were produced based on the design, and it was confirmed that the angle of each finger could be adjusted. Through experiments, a sign language recognition model was selected, and the validity of the proposed method was confirmed by comparing the generated learning results with the data sequence. Finally, we compared and verified the accuracy and learning loss using a recurrent neural network and confirmed that the test results of the LSTM model showed an accuracy of 85%. Full article

The hand exoskeleton has been widely studied in the fields of hand rehabilitation and grasping assistance tasks. Current hand exoskeletons face challenges in combining a user-friendly design with a lightweight structure and accurate modeling of hand motion. In this study, we developed a finger exoskeleton with a rolling contact involute joint. Specific implementation methods were investigated, including an analysis of the mechanical characteristics of the involute joint model, the formula derivation of the joint parameter optimization algorithm, and the design process for a finger exoskeleton with an involute joint. Experiments were conducted using a finger exoskeleton prototype to evaluate the output trajectory and grasping force of the finger exoskeleton. An EMG-controlled hand exoskeleton was developed to verify the wearability and functionality of the glove. The experimental results show that the proposed involute joint can provide sufficient fingertip force (10N) while forming a lightweight exoskeleton to assist users with functional hand rehabilitation and grasping activities. Full article

Understanding hand and wrist forces during activities of daily living (ADLs) are pertinent when modeling prosthetics/orthotics, preventing workplace-related injuries, and understanding movement patterns that make athletes, dancers, and musicians elite. The small size of the wrist, fingers, and numerous joints creates obstacles in accurately measuring these forces. In this study, 14 FlexiForce sensors were sewn into a glove in an attempt to capture forces applied by the fingers. Participants in this study wore the glove and performed grasp and key turn activities. The maximal forces produced in the study were 9 N at the distal middle finger phalanx and 24 N at the distal thumb phalanx, respectively, for the grasp and key turn activities. Results from this study will help in determining the minimal forces of the hand during ADLs so that appropriate actuators may be placed at the appropriate joints in exoskeletons, orthotics, and prosthetics. Full article

The paper discusses several control techniques for a class of systems described by fractional order equations. The paper presents the unit frequency criteria that ensure the closed loop control for: Fractional Order Linear Systems, Fractional Order Linear Systems with nonlinear components, Time Delay Fractional Order Linear Systems, Time Delay Fractional Order Linear Systems with nonlinear components. The stability criterion is proposed for the systems composed of fractional order subsystems. These techniques are used in two applications: Soft Exoskeleton Glove Control, studied as a nonlinear model with time delay and Disabled Man-Wheelchair model, analysed as a fractional-order multi-system. Full article

The soft pneumatic actuators of an assistive exoskeleton hand glove are here designed. The design of the actuators focuses on allowing the actuator to perform the required bending and to restrict elongation or twisting of the actuator. The actuator is then modeled using ABAQUS/CAE, a finite element modeling software, and the open loop response of the model is obtained. The parameters of the actuator are then optimized to reach the optimal parameters corresponding to the best performance. Design of experiment (DOE) techniques are then approached to study the robustness of the system. Software-in-the-loop (SiL) is then approached to control the model variables via a proportional-integral-derivative (PID) control generated by FORTRAN code. The link between the two programs is to be achieved by the user subroutine that is written, where the subroutine receives values from ABAQUS/CAE, performs calculations, and passes values back to the software. The controller’s parameters are tuned and then the closed loop response of the model is obtained by setting the desired bending angle and running the model. Furthermore, a concentrated force at the tip of the actuator is added to observe the actuator’s response to external disturbance. Full article

Traditional rigid exoskeletons can be challenging to the comfort of wearers and can have large pressure, which can even alter natural hand motion patterns. In this paper, we propose a low-cost soft exoskeleton glove (SExoG) system driven by surface electromyography (sEMG) signals from non-paretic hand for bilateral training. A customization method of geometrical parameters of soft actuators was presented, and their structure was redesigned. Then, the corresponding pressure values of air-pump to generate different angles of actuators were determined to support four hand motions (extension, rest, spherical grip, and fist). A two-step hybrid model combining the neural network and the state exclusion algorithm was proposed to recognize four hand motions via sEMG signals from the healthy limb. Four subjects were recruited to participate in the experiments. The experimental results show that the pressure values for the four hand motions were about −2, 0, 40, and 70 KPa, and the hybrid model can yield a mean accuracy of 98.7% across four hand motions. It can be concluded that the novel SExoG system can mirror the hand motions of non-paretic hand with good performance. Full article

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. Full article