Soft Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance Post Spinal Cord Injury

Zhou, Yu; Wagner, Diana; Nuckols, Kristin; Heimgartner, Roman; Correia, Carolina; Pettys‐Baker, Robert; Orzel, Dorothy; O’Neill, Ciarán T.; Solinsky, Ryan; Paganoni, Sabrina; Walsh, Conor J.

doi:10.1109/icra.2019.8794367

Cited by 46 publications

(39 citation statements)

References 28 publications

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“…Pneumatics is one of the most commonly used RAS principles for wearable assistive devices, mainly for upper-limb applications (He et al, 2005 ; Sasaki et al, 2005 ; Takahashi et al, 2005 ; Takahashi et al, 2020 ; Costa and Caldwell, 2006 ; Gordon et al, 2006 ; Balasubramanian et al, 2008 ; Beyl et al, 2008 ; Jia-Fan et al, 2008 ; Ino et al, 2009 ; Vanderhoff and Kim, 2009 ; Xing et al, 2009 ; Hurst and Aw, 2011 ; Bae and Moon, 2012 ; Heo et al, 2013 ; Huang and Chen, 2013 ; Tjahyono et al, 2013 ; Noda et al, 2014 ; Park et al, 2014a , b ; Patar et al, 2014 ; Yap et al, 2015 ; Zhao et al, 2015 ; Haghshenas-Jaryani et al, 2016 ; Chen et al, 2017 ; Sun et al, 2017 ; Yun Y. et al, 2017 ; Zhou et al, 2019 ; Ge et al, 2020 ; Hong et al, 2020 ). In the actuation unit, pneumatic energy is stored in form of highly pressurized air or generated by pumps powered by batteries.…”

Section: Methodsmentioning

confidence: 99%

“…Most frequently, conventional pressure generators or external compressed air supplies (e.g., stationary air supply systems as found in many laboratories) have been used as power sources at the input (He et al, 2005 ; Sasaki et al, 2005 ; Takahashi et al, 2005 ; Gordon et al, 2006 ; Beyl et al, 2008 ; Heo et al, 2013 ; Huang and Chen, 2013 ; Park et al, 2014b ; Patar et al, 2014 ; Zhao et al, 2015 ; Haghshenas-Jaryani et al, 2016 ; Chen et al, 2017 ; Sun et al, 2017 ; Zhou et al, 2019 ; Hong et al, 2020 ). Alternatively, compressors based on metal hydrides (MH) have been presented (Ino et al, 2009 ; Vanderhoff and Kim, 2009 ).…”

Section: Methodsmentioning

confidence: 99%

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Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

et al. 2021

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Wearable robots assist individuals with sensorimotor impairment in daily life, or support industrial workers in physically demanding tasks. In such scenarios, low mass and compact design are crucial factors for device acceptance. Remote actuation systems (RAS) have emerged as a popular approach in wearable robots to reduce perceived weight and increase usability. Different RAS have been presented in the literature to accommodate for a wide range of applications and related design requirements. The push toward use of wearable robotics in out-of-the-lab applications in clinics, home environments, or industry created a shift in requirements for RAS. In this context, high durability, ergonomics, and simple maintenance gain in importance. However, these are only rarely considered and evaluated in research publications, despite being drivers for device abandonment by end-users. In this paper, we summarize existing approaches of RAS for wearable assistive technology in a literature review and compare advantages and disadvantages, focusing on specific evaluation criteria for out-of-the-lab applications to provide guidelines for the selection of RAS. Based on the gained insights, we present the development, optimization, and evaluation of a cable-based RAS for out-of-the-lab applications in a wearable assistive soft hand exoskeleton. The presented RAS features full wearability, high durability, high efficiency, and appealing design while fulfilling ergonomic criteria such as low mass and high wearing comfort. This work aims to support the transfer of RAS for wearable robotics from controlled lab environments to out-of-the-lab applications.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

et al. 2021

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“…Sensing layers with computation and decision-making capabilities in IoT systems are used in an integrated manner with physical world entities [74,75]. Wearable technologies are started to use for assisting human movements [76]. The third and fourth important factors that need to be optimized are reliability and the continuity of the information obtained in this technology.…”

Section: Sensing Layermentioning

confidence: 99%

Analysis of factors affecting IoT-based smart hospital design

2020

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Currently, rapidly developing digital technological innovations affect and change the integrated information management processes of all sectors. The high efficiency of these innovations has inevitably pushed the health sector into a digital transformation process to optimize the technologies and methodologies used to optimize healthcare management systems. In this transformation, the Internet of Things (IoT) technology plays an important role, which enables many devices to connect and work together. IoT allows systems to work together using sensors, connection methods, internet protocols, databases, cloud computing, and analytic as infrastructure. In this respect, it is necessary to establish the necessary technical infrastructure and a suitable environment for the development of smart hospitals. This study points out the optimization factors, challenges, available technologies, and opportunities, as well as the system architecture that come about by employing IoT technology in smart hospital environments. In order to do that, the required technical infrastructure is divided into five layers and the system infrastructure, constraints, and methods needed in each layer are specified, which also includes the smart hospital’s dimensions and extent of intelligent computing and real-time big data analytic. As a result of the study, the deficiencies that may arise in each layer for the smart hospital design model and the factors that should be taken into account to eliminate them are explained. It is expected to provide a road map to managers, system developers, and researchers interested in optimization of the design of the smart hospital system.

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“…Selecting an adequate compliance which is optimal for the subject and completion of tasks may allow subjects to perform tasks more efficiently. Currently, soft robotic devices for improving hand function in SCI patients have been reported (Zhou et al, 2019;Tran et al, 2020). Soft exoskeletons are deformable to accommodate the shape of the hand with flexibility for operation.…”

Section: Emg-driven Maestro Controlmentioning

confidence: 99%

“…Assistive exoskeletons have the potential to improve the quality of the life of the SCI patients by powering their hand movements to fulfill daily tasks. Active hand exoskeletons have been developed to provide assistance for hand function (Heo et al, 2012;In et al, 2015;Zhou et al, 2019;Ferguson et al, 2020;Tran et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Improvement of hand functions of spinal cord injury patients with electromyography-driven hand exoskeleton: A feasibility study

Yun

Esmatloo

et al. 2020

Wearable Technol.

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We have developed a one-of-a-kind hand exoskeleton, called Maestro, which can power finger movements of those surviving severe disabilities to complete daily tasks using compliant joints. In this paper, we present results from an electromyography (EMG) control strategy conducted with spinal cord injury (SCI) patients (C5, C6, and C7) in which the subjects completed daily tasks controlling Maestro with EMG signals from their forearm muscles. With its compliant actuation and its degrees of freedom that match the natural finger movements, Maestro is capable of helping the subjects grasp and manipulate a variety of daily objects (more than 15 from a standardized set). To generate control commands for Maestro, an artificial neural network algorithm was implemented along with a probabilistic control approach to classify and deliver four hand poses robustly with three EMG signals measured from the forearm and palm. Increase in the scores of a standardized test, called the Sollerman hand function test, and enhancement in different aspects of grasping such as strength shows feasibility that Maestro can be capable of improving the hand function of SCI subjects.

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Soft Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance Post Spinal Cord Injury

Cited by 46 publications

References 28 publications

Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

Remote Actuation Systems for Fully Wearable Assistive Devices: Requirements, Selection, and Optimization for Out-of-the-Lab Application of a Hand Exoskeleton

Analysis of factors affecting IoT-based smart hospital design

Improvement of hand functions of spinal cord injury patients with electromyography-driven hand exoskeleton: A feasibility study

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