TY - GEN
T1 - A soft robotic exo-sheath using fabric EMG sensing for hand rehabilitation and assistance
AU - Guo, Jiaqi
AU - Yu, Shuangyue
AU - Li, Yanjun
AU - Huang, Tzu Hao
AU - Wang, Junlin
AU - Lynn, Brian
AU - Fidock, Jeremy
AU - Shen, Chien Lung
AU - Edwards, Dylan
AU - Su, Hao
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/5
Y1 - 2018/7/5
N2 - This paper presents the design and evaluation of a soft hand exo-sheath integrated with a soft fabric electromyography (EMG) sensor for rehabilitation and activities of daily living (ADL) assistance of stroke and spinal cord injury (SCI) patients. This wearable robot addresses the limitations of the soft robot gloves with design considerations in terms of ergonomics and clinical practice. Its features include: This exo-sheath is based on electric actuation and has been designed to be compact and portable. It reduces the shear force and avoids kinematic singularity comparing with tendon-driven soft gloves as their tendon routings are typically in parallel with individual fingers. Disparate from conventional robotic gloves, this design optimizes a bio-inspired fin-ray structure to enhance the hand proprioception as the palm is not covered by wearable structures. With a novel self-fastening finger clasp design, wearers can self-don/doff the exoskeleton device simplifying ADL assistance. To develop more intuitive control interface, a soft fabric EMG sensor has been developed to understand human intentions. The functionality of this soft robot has been demonstrated with experimental results using the low-level position control, kinematics evaluation and reliable EMG measurements.
AB - This paper presents the design and evaluation of a soft hand exo-sheath integrated with a soft fabric electromyography (EMG) sensor for rehabilitation and activities of daily living (ADL) assistance of stroke and spinal cord injury (SCI) patients. This wearable robot addresses the limitations of the soft robot gloves with design considerations in terms of ergonomics and clinical practice. Its features include: This exo-sheath is based on electric actuation and has been designed to be compact and portable. It reduces the shear force and avoids kinematic singularity comparing with tendon-driven soft gloves as their tendon routings are typically in parallel with individual fingers. Disparate from conventional robotic gloves, this design optimizes a bio-inspired fin-ray structure to enhance the hand proprioception as the palm is not covered by wearable structures. With a novel self-fastening finger clasp design, wearers can self-don/doff the exoskeleton device simplifying ADL assistance. To develop more intuitive control interface, a soft fabric EMG sensor has been developed to understand human intentions. The functionality of this soft robot has been demonstrated with experimental results using the low-level position control, kinematics evaluation and reliable EMG measurements.
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U2 - 10.1109/ROBOSOFT.2018.8405375
DO - 10.1109/ROBOSOFT.2018.8405375
M3 - Conference contribution
AN - SCOPUS:85050699485
T3 - 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
SP - 497
EP - 503
BT - 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st IEEE International Conference on Soft Robotics, RoboSoft 2018
Y2 - 24 April 2018 through 28 April 2018
ER -