TY - GEN
T1 - Soft robotic rehabilitation exoskeleton (rehab glove) for hand therapy
AU - Haghshenas-Jaryani, Mahdi
AU - Nothnagle, Caleb
AU - Patterson, Rita M.
AU - Bugnariu, Nicoleta
AU - Wijesundara, Muthu B.J.
N1 - Funding Information:
This paper is based upon work supported by the Texas Medical Research Collaborative (TexasMRC) fund. Authors also would like to thank the University of Texas at Arlington Research Institute (UTARI) and the University of North Texas Health Science Center (UNTHSC) for supporting the project.
Publisher Copyright:
© 2017 ASME.
PY - 2017
Y1 - 2017
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85034668799&partnerID=8YFLogxK
U2 - 10.1115/DETC2017-68291
DO - 10.1115/DETC2017-68291
M3 - Conference contribution
AN - SCOPUS:85034668799
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -