Development of an Exoskeletal Glove using Hybrid Robotics for Motor Function Rehabilitation

Development of an Exoskeletal Glove using Hybrid Robotics for Motor Function Rehabilitation
  IJETT-book-cover           
  
© 2024 by IJETT Journal
Volume-72 Issue-3
Year of Publication : 2024
Author : Elber Canto-Vivanco, David Llulluy Nuñez, Sebastian Ramos-Cosi, Victor Romero Alva
DOI : 10.14445/22315381/IJETT-V72I3P104

How to Cite?

Elber Canto-Vivanco, David Llulluy Nuñez, Sebastian Ramos-Cosi, Victor Romero Alva, "Development of an Exoskeletal Glove using Hybrid Robotics for Motor Function Rehabilitation," International Journal of Engineering Trends and Technology, vol. 72, no. 3, pp. 40-48, 2024. Crossref, https://doi.org/10.14445/22315381/IJETT-V72I3P104

Abstract
The number of people with motor disabilities has increased compared to previous years, and it is estimated that it will continue to grow; the fact that a part of the body does not function properly limits the independence of the affected person, an important part is a hand because with it we interact with our environment. To recover its functionality, therapeutic exercises are usually performed; from engineering, one of the proposals is the use of an exoskeleton. Many exoskeletons apply rigid or soft robotics, and very few are hybrids. Therefore, in this work, a hybrid exoskeleton glove is developed to detect the user's intention of movement; for this purpose, a resistive force sensor was used. For the movement, servomotors with a crankcrank mechanism were used to obtain a linear movement. The tests consisted of a force measurement and the adaptability of the device when holding different objects. Relatively low weight was obtained, and considering the number of actuators, the force achieved is efficient for performing Activities of Daily Living (ADL).

Keywords
Exoskeletal glove, Hybrid robotics, Arduino, Hand Rehabilitation, Movement intention.

References
[1] World Health Organization, Spinal Cord Injury, 2013. [Online]. Available: https://www.who.int/news-room/fact-sheets/detail/spinal-cord-injury
[2] Esther Alicia Amate, and Armando J Vásquez, Disability: What All of Us Should Know, Pan American Health Organization, 2006.
[Google Scholar] [Publisher Link]
[3] Chad G. Rose, and Marcia K. O’Malley, “A Hybrid Rigid-Soft Hand Exoskeleton to Assist Functional Dexterity,” IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 73-80, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[4] Leonardo Cappello et al., “Assisting Hand Function After Spinal Cord Injury with a Fabric-Based Soft Robotic Glove,” Journal of NeuroEngineering and Rehabilitation, vol. 15, no. 1, pp. 1-10, 2018.
[CrossRef] [Google Scholar] [Publisher Link]
[5] National Institute of Statistics and Informatics, In Peru 1 Million 575 Thousand People have Some Type of Disability, 2013. [Online]. Available: https://m.inei.gob.pe/prensa/noticias/en-el-peru-1-millon-575-mil-personas-presentan-alg/
[6] Sebastian Ramos Cosi, Wilmer Vergaray Mendez, and Laberiano Andrade-Arenas, “Design of a Spraying Module for Backpacks through Automation in the Tambo Valley Region – Arequipa,” International Journal of Engineering Trends and Technology, vol. 70, no. 7, pp. 455-461, 2022.
[CrossRef] [Publisher Link]
[7] Natalia I. Vargas-Cuentas, Sebastian J. Ramos-Cosi, and Avid Roman-Gonzalez, "Air Quality Analysis In Pasco Peru Using Remote Sensing," International Journal of Engineering Trends and Technology, vol. 69, no. 12, pp. 30-38, 2021.
[CrossRef] [Publisher Link]
[8] Statistical Yearbook 2020 of the National Registry of Persons with Disabilities, National Council for the Integration of Persons with Disabilities, 2021. [Online]. Available: https://www.gob.pe/institucion/conadis/informes-publicaciones/2745692-anuario-estadistico-2020-del-registro-nacional-de-la-persona-con-discapacidad
[9] Zhiyuan Lu et al., “Myoelectric Pattern Recognition for Controlling a Robotic Hand: A Feasibility Study in Stroke,” IEEE Transactions on Biomedical Engineering, vol. 66, no. 2, pp. 365-372, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[10] Brian Byunghyun Kang et al., “Exo-Glove Poly II: A Polymer-Based Soft Wearable Robot for the Hand with a Tendon-Driven Actuation System,” Soft Robot, vol. 6, no. 2, pp. 214-227, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[11] Hong Kai Yap et al., “A Soft Exoskeleton for Hand Assistive and Rehabilitation Application using Pneumatic Actuators with Variable Stiffness,” IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 4967-4972, 2015.
[CrossRef] [Google Scholar] [Publisher Link]
[12] Ke Li et al., “Control of Newly-Designed Wearable Robotic Hand Exoskeleton Based on Surface Electromyographic Signals,” Frontiers in Neurorobotics, vol. 15, pp. 1-12, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[13] Min Li et al., “An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion using a Rigid-Soft Combined Mechanism,” Frontiers in Neurorobotics, vol. 13, pp. 1-13, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[14] Vaheh Nazari et al., “A Compact and Lightweight Rehabilitative Exoskeleton to Restore Grasping Functions for People with Hand Paralysis,” Sensors, vol. 21, no. 20, pp. 1-15, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[15] Emily R. Triolo, and Brett F. BuSha, “Design and Experimental Testing of a Force-Augmenting Exoskeleton for the Human Hand,” Journal of NeuroEngineering and Rehabilitation, vol. 19, no. 1, pp. 1-16, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[16] Kai Guo et al., “Development, Research, Optimization and Experiment of Exoskeleton Robot for Hand Rehabilitation Training,” Applied Sciences (Switzerland), vol. 12, no. 20, pp. 1-15, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[17] Shahrul Naim Sidek, and Ahmad Jazlan Haja Mohideen, “Mapping of EMG Signal to Hand Grip Force at Varying Wrist Angles,” IEEE EMBS International Conference on Biomedical Engineering and Sciences, Langkawi, Malaysia, pp. 648-653, 2012.
[CrossRef] [Google Scholar] [Publisher Link]
[18] Tobias Bützer et al., “Fully Wearable Actuated Soft Exoskeleton for Grasping Assistance in Everyday Activities,” Soft Robot, vol. 8, no. 2, pp. 128-143, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[19] Susanna Yu. Gordleeva et al., “Real-Time EEG-EMG Human-Machine Interface-Based Control System for a Lower-Limb Exoskeleton,” IEEE Access, vol. 8, pp. 84070-84081, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[20] Joshua W. Wade et al., “Feasibility of Automated Mobility Assessment of Older Adults via an Instrumented Cane,” IEEE Journal of Biomedical and Health Informatics, vol. 23, no. 4, pp. 1631-1638, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[21] Luca Randazzo et al., “Mano: A Wearable Hand Exoskeleton for Activities of Daily Living and Neurorehabilitation,” IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 500-507, 2018.
[CrossRef] [Google Scholar] [Publisher Link]
[22] Zuzana Koudelkova et al., “Verification of Finger Positioning Accuracy of an Affordable Transradial Prosthesis,” Designs (Basel), vol. 7, no. 1, pp. 1-13, 2023.
[CrossRef] [Google Scholar] [Publisher Link]