A Wearable Device for Upper Limb Rehabilitation and Assistance Based on Fluid Actuators and Myoelectric Control

Abstract

Wearable exoskeleton solutions for upper limb rehabilitation or assistance, particularly for the hand area, have become increasingly attractive to researchers, proving to be effective over time in treating hand movement impairments following various neurological diseases. Our aim in the present work is to design a wearable exoskeleton device for active hand rehabilitation/assist control based on myoelectric signal (EMG) capture from forearm muscles, which is easy to wear by the user, comfortable, lightweight, and relatively inexpensive to make. The actuators use two different lengths to increase biocompatibility with the anatomy of the hand, and PneuNets fluid actuators are used. Their design to meet force and bending requirements was based on finite element numerical simulations, and the actuators were designed based on a clear design methodology to achieve the best possible quality. Tests on healthy subjects show that the EMG-based control strategy meets the needs of rehabilitation/assistive hand therapy, finding a comfortable and easy-to-use device. Future directions will focus on developing the device to meet rehabilitation needs for the entire upper limb and integrating the device into virtual reality (VR) through immersive devices.