Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy

Mahdi Haghshenas-Jaryani, Caleb Nothnagle, Rita Patterson, Nicoleta Bugnariu, Muthu B.J. Wijesundara

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

3 Citations (Scopus)

Abstract

This paper presents the design, control, and validation of a soft robotic exoskeleton system, the REHAB Glove, for hand rehabilitation. The system is comprised of five hybrid soft-andrigid robotic digits that apply controlled flexion and extension motion to fingers. The previous actuator design of the soft robotic digit was improved for kinematic compatibility with anatomical motions of the hand in relation to range of motion, center of rotation, and dorsal skin lengthening. The design was validated using motion capture and analysis. A position control algorithm, which controls finger angular trajectories (angular position and velocity), was developed based on motion sensor feedback. The operation of this algorithm was verified using a 90° digit tip trajectory with two angular velocities of 15°/sec and 30°/sec. A pilot study was carried out with five healthy individuals to evaluate the performance of the REHAB Glove in providing therapeutic schemes. The results show that the REHAB Glove is able to provide controlled motion compatible with the kinematics and dynamics of the human.

Original languageEnglish
Title of host publication19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791858158
DOIs
StatePublished - 1 Jan 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: 6 Aug 20179 Aug 2017

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume3

Other

OtherASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
CountryUnited States
CityCleveland
Period6/08/179/08/17

Fingerprint

Rehabilitation
End effectors
Patient rehabilitation
Therapy
Robotics
Digit
Motion
Kinematics
Trajectories
Position control
Angular velocity
Trajectory
Skin
Actuators
Point of symmetry
Motion Analysis
Motion Capture
Position Control
Feedback
Control Design

Cite this

Haghshenas-Jaryani, M., Nothnagle, C., Patterson, R., Bugnariu, N., & Wijesundara, M. B. J. (2017). Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy. In 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices (Proceedings of the ASME Design Engineering Technical Conference; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2017-68291
Haghshenas-Jaryani, Mahdi ; Nothnagle, Caleb ; Patterson, Rita ; Bugnariu, Nicoleta ; Wijesundara, Muthu B.J. / Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy. 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME), 2017. (Proceedings of the ASME Design Engineering Technical Conference).
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Haghshenas-Jaryani, M, Nothnagle, C, Patterson, R, Bugnariu, N & Wijesundara, MBJ 2017, Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy. in 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices. Proceedings of the ASME Design Engineering Technical Conference, vol. 3, American Society of Mechanical Engineers (ASME), ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Cleveland, United States, 6/08/17. https://doi.org/10.1115/DETC2017-68291

Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy. / Haghshenas-Jaryani, Mahdi; Nothnagle, Caleb; Patterson, Rita; Bugnariu, Nicoleta; Wijesundara, Muthu B.J.

19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME), 2017. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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AB - This paper presents the design, control, and validation of a soft robotic exoskeleton system, the REHAB Glove, for hand rehabilitation. The system is comprised of five hybrid soft-andrigid robotic digits that apply controlled flexion and extension motion to fingers. The previous actuator design of the soft robotic digit was improved for kinematic compatibility with anatomical motions of the hand in relation to range of motion, center of rotation, and dorsal skin lengthening. The design was validated using motion capture and analysis. A position control algorithm, which controls finger angular trajectories (angular position and velocity), was developed based on motion sensor feedback. The operation of this algorithm was verified using a 90° digit tip trajectory with two angular velocities of 15°/sec and 30°/sec. A pilot study was carried out with five healthy individuals to evaluate the performance of the REHAB Glove in providing therapeutic schemes. The results show that the REHAB Glove is able to provide controlled motion compatible with the kinematics and dynamics of the human.

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Haghshenas-Jaryani M, Nothnagle C, Patterson R, Bugnariu N, Wijesundara MBJ. Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy. In 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME). 2017. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC2017-68291