Grip Force Measurement of Soft- Actuated Finger Exoskeleton

Nordin, Ili Najaa Aimi Mohd; Faudzi, Ahmad Athif Mohd; Kamarudin, Maslinda; Dewi, Dyah Ekashanti Octorina; Rehman, Tariq; Razif, Muhammad Rusydi Muhammad

doi:10.11113/jt.v78.9268

Cited by 15 publications

(9 citation statements)

References 20 publications

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“…Fiber braided bending type actuator (FBBA), a kind of soft bending-type actuator is made from a combination of extending and contracting characteristics [14]- [18]. For the contraction mechanism, the lower the braided angle, the more contracted the actuator will be.…”

Section: Soft Fiber Braided Bending Actuator Design Conceptmentioning

confidence: 99%

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Soft Actuated Foot Exoskeleton for Ankle Rehabilitation

Kamarudin¹,

Nordin²,

Faudzi³

et al. 2020

IJATCSE

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Technological advancement has made rehabilitation robotics possible. Robots can now help patients to proceed with their physiotherapy treatment with less assistance from physiotherapists. Soft robots are made from material similar to living organisms to improve safety between human and robot interaction. A soft robotic foot exoskeleton using pneumatic fiber braided bending-type actuator was developed in this study. Focusing on dorsiflexion ankle stretching movement, several actuator positioning was performed to gain the maximum ankle angle. MPU6050 sensor was used to detect the ankle dorsiflexion angle. Without any load, the bending-type actuator was able to bend and meet end-to-end of the tip. ITV0031-2ML valve was used as the connecter between air pressure supply and electronic circuit. Several experimental setups have been used in this study to obtain the maximum ankle dorsiflexion angle. The average maximum dorsiflexion angle from healthy volunteers was 8-degree, and Phase II experimental setup was able to drive a maximum of 6-degree dorsiflexion angle.

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Section: Soft Fiber Braided Bending Actuator Design Conceptmentioning

confidence: 99%

“…A bending-type soft actuator [18] that use fiber reinforcement shows a promising flexibility and force capability. The actuator was able to get one-sided bending motion as it consists of fiber-reinforcement inside the silicone rubber.…”

Section: Introductionmentioning

confidence: 99%

Soft Actuated Foot Exoskeleton for Ankle Rehabilitation

Kamarudin¹,

Nordin²,

Faudzi³

et al. 2020

IJATCSE

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“…The research and development of soft robotic hand exoskeletons reached its peak in 2016. Fourteen articles were on pneumatically-actuated exoskeletons [10,12,15,16,48,50,64,65,66,67,68,69,70,71], while eight articles were on tendon/cable-driven systems [18,56,57,58,60,61,62,63]. The SNU research group introduced the Exo-Glove Poly 2.0, which is completely made from elastomer materials [18].…”

Section: Technological Trendmentioning

confidence: 99%

Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons

et al. 2018

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Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)-and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frameworks: a systematic review and a chronological review of the exoskeletons. The first approach summarizes the designs of different soft robotic hand exoskeletons based on their mechanical, electrical and functional attributes, including the degree of freedom, number of fingers, force transmission, actuation mode and control strategy. The second approach discusses the technological trend of soft robotic hand exoskeletons in the past decade. The timeline analysis demonstrates the transformation of the exoskeletons from rigid ferrous materials to soft elastomeric materials. It uncovers recent research, development and integration of their mechanical and electrical components. It also approximates the future of the soft robotic hand exoskeletons and some of their crucial design attributes.

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“…This has motivated the demand of providing mobile and accurate rehabilitation robotic system for speeding up the recovering process. In this regard, robotic systems that offers practicality were developed [6][7][8]. Most of the rehabilitation will focus on the identification and resolution of movement problems to track the range of movement abnormalities for each individual patient so the outcome of the rehabilitation can be improved when the feedback of their movement is obtained.…”

Section: Introductionmentioning

confidence: 99%

IMU sensor-based data glove for finger joint measurement

Hazman

Nordin

Noh

et al. 2020

IJEECS

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<p>The methods used to quantify finger range of motion significantly influence how hand disability is reported. To date, the accuracy of sensors being utilized in data gloves from the literature has been ascertained yet need further analysis. This paper presents an inertial measurement unit sensor-based data glove for finger joint measurement developed for collecting a range of motion data of distal interphalangeal, proximal interphalangeal and metacarpophalangeal finger joints of an index finger. In this study, three inertial measurement sensors, MPU-6050 and two flexible bend sensors which are capable to detect angle displacement were attached to the distal interphalangeal, proximal interphalangeal and metacarpophalangeal finger joint points on the glove. The data taken from inertial measurement unit sensors and flexible bend sensors were acquired using Arduino and MATLAB software interface. The data obtained were compared with the reference data measured from goniometer to allow for accurate comparative measurement. The percentage of error resulted from MPU-6050 sensor unit were ranged from 0.81 % to 5.41 % were very low which indicates high accuracy when compared with the measurements obtained using goniometer. On the other hand, flexible bend sensor shows low accuracy (11.11 % to 19.35 % error). In conclusion, the inertial measurement unit sensor-based data glove using MPU-6050 sensors can be a reliable solution for tracking the progress of finger rehabilitation exercises. In order to motivate patients to adhere to the therapy exercises, interactive rehabilitation game will be developed in the future incorporating MPU-6050 sensors on all five fingers.</p>

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Grip Force Measurement of Soft- Actuated Finger Exoskeleton

Cited by 15 publications

References 20 publications

Soft Actuated Foot Exoskeleton for Ankle Rehabilitation

Soft Actuated Foot Exoskeleton for Ankle Rehabilitation

Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons

IMU sensor-based data glove for finger joint measurement

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