Design of a Soft Glove-Based Robotic Hand Exoskeleton with Embedded Synergies

Burns, Martin; Vinjamuri, Ramana

doi:10.1007/978-3-030-38740-2_5

Cited by 11 publications

(9 citation statements)

References 64 publications

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“…A growing body of literature suggests the existence of a subset of motion synergies, which are both shared across subjects and low in DoF, from which a majority of common actions may be reconstructed (Ingram et al, 2008;Santello et al, 1998). The identification and exploration of these common grasp synergies has continued to develop as an important topic of research in recent years (Burns and Vinjamuri, 2020;Gracia-Ibáñez et al, 2020). With wide-ranging applications and implications in the rehabilitation and assistive living fields, data on this topic have only continued to become more accessible (Jarque-Bou et al, 2020).…”

Section: Discussionmentioning

confidence: 99%

A soft, synergy-based robotic glove for grasping assistance

et al. 2021

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This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies of the hand to support a large variety of grasps with a single actuator. The glove is lightweight, easy to don, and generates sufficient hand closing force to assist with activities of daily living. Device efficiency was examined through a characterization of the power transmission elements, and output force production was observed to be linear in both cylindrical and pinch grasp configurations. We further show that, as a result of the synergy-inspired actuation strategy, the glove only slightly alters the distribution of forces across the fingers, compared to a natural, unassisted grasping pattern. Finally, a preliminary case study was conducted using a participant suffering from an incomplete spinal cord injury (C7). It was found that through the use of the glove, the participant was able to achieve a 50% performance improvement (from four to six blocks) in a standard Box and Block test.

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Section: Discussionmentioning

confidence: 99%

A soft, synergy-based robotic glove for grasping assistance

et al. 2021

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“…The design presented here uses a jointless structure that relies on natural movement and joint constraints imposed by the patient's bone structure. The same design approach, in terms of digital manufacturing, is taken by other devices [101][102][103][104], where some 3D-printed elements needed to make the fingers move are sewed or glued to a commercially available work glove. This alternative design allows for grasping movements, keeping the carpometacarpal joint in a natural range of motion for such tasks.…”

Section: Fabric or Textile Basedmentioning

confidence: 99%

Soft Hand Exoskeletons for Rehabilitation: Approaches to Design, Manufacturing Methods, and Future Prospects

Saldarriaga,

Gutierrez-Velasquez,

Colorado

2024

Robotics

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Stroke, the third leading cause of global disability, poses significant challenges to healthcare systems worldwide. Addressing the restoration of impaired hand functions is crucial, especially amid healthcare workforce shortages. While robotic-assisted therapy shows promise, cost and healthcare community concerns hinder the adoption of hand exoskeletons. However, recent advancements in soft robotics and digital fabrication, particularly 3D printing, have sparked renewed interest in this area. This review article offers a thorough exploration of the current landscape of soft hand exoskeletons, emphasizing recent advancements and alternative designs. It surveys previous reviews in the field and examines relevant aspects of hand anatomy pertinent to wearable rehabilitation devices. Furthermore, the article investigates the design requirements for soft hand exoskeletons and provides a detailed review of various soft exoskeleton gloves, categorized based on their design principles. The discussion encompasses simulation-supported methods, affordability considerations, and future research directions. This review aims to benefit researchers, clinicians, and stakeholders by disseminating the latest advances in soft hand exoskeleton technology, ultimately enhancing stroke rehabilitation outcomes and patient care.

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“…Most existing hand orthoses include multiple actuators to assist dexterous finger movements for rehabilitation purposes. The hand orthoses comprise exoskeletons ( Ryu et al, 2008 ; Chiri et al, 2009 ; Ho et al, 2011 ; Ates et al, 2015 ), tendon-driven gloves ( Wege and Zimmermann, 2007 ; Ueki et al, 2012 ; Aiple and Schiele, 2013 ; Borboni et al, 2016 ; Xiloyannis et al, 2016 ; Kim and Park, 2018 ; Burns and Vinjamuri, 2020 ; Alicea et al, 2021 ), and inflatable robotic gloves ( Cappello et al, 2018 ; Nuckols et al, 2020 ). The exoskeletal orthoses can assist fingers with accurately controlled joint movements; however, they inherently suffer from poor portability due to their heavy weight.…”

Section: Introductionmentioning

confidence: 99%

Portable 3D-printed hand orthosis with spatial stiffness distribution personalized for assisting grasping in daily living

Park

2023

Front. Bioeng. Biotechnol.

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Stroke survivors having limited finger coordination require an active hand orthosis to assist them with grasping tasks for daily activities. The orthosis should be portable for constant use; however, portability imposes constraints on the number, size, and weight of the actuators, which increase the difficulty of the design process. Therefore, a tradeoff exists between portability and the assistive force. In this study, a personalized spatial stiffness distribution design is presented for a portable and strengthful hand orthosis. The spatial stiffness distribution of the orthosis was optimized based on measurements of individual hand parameters to satisfy the functional requirements of achieving sufficient grip aperture in the pre-grasping phase and minimal assistive force in the grasping phase. Ten stroke survivors were recruited to evaluate the system. Sufficient grip aperture and high grip strength-to-weight ratio were achieved by the orthosis via a single motor. Moreover, the orthosis significantly restored the range of motion and improved the performance of daily activities. The proposed spatial stiffness distribution can suggest a design solution to make strengthful hand orthoses with reduced weight.

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Design of a Soft Glove-Based Robotic Hand Exoskeleton with Embedded Synergies

Cited by 11 publications

References 64 publications

A soft, synergy-based robotic glove for grasping assistance

A soft, synergy-based robotic glove for grasping assistance

Soft Hand Exoskeletons for Rehabilitation: Approaches to Design, Manufacturing Methods, and Future Prospects

Portable 3D-printed hand orthosis with spatial stiffness distribution personalized for assisting grasping in daily living

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