Bilateral mode exoskeleton for hand rehabilitation with wireless control using 3D printing technology based on IMU...

Area of Science:

• Robotics
• Rehabilitation Engineering
• Assistive Technology

Background:

• Limited accessibility and high cost of current hand rehabilitation devices.
• Need for user-friendly, adaptable solutions for patients with paralysis.
• Potential of open-source hardware in accelerating assistive technology development.

Purpose of the Study:

• To develop an open-source, wirelessly controlled exoskeleton for hand rehabilitation (EHR).
• To enable bilateral mode control using a non-paretic hand for independent patient therapy.
• To provide an affordable and customizable rehabilitation tool for paralyzed or partially paralyzed individuals.

Main Methods:

• Design and fabrication of a lightweight, two-part (master-slave) exoskeleton using 3D printing.
• Integration of mini ESP32 microcontrollers and IMU sensors for wireless WiFi communication.
• Implementation of bilateral control for synchronized hand movements during rehabilitation exercises.

Main Results:

• Successful development of a functional open-source exoskeleton for hand rehabilitation.
• Achieved a mean Root Mean Square Error (RMSE) of 9.04° across all exoskeleton fingers, indicating good accuracy.
• Demonstrated wireless, WiFi-based control for easy operation by non-paretic hands.

Conclusions:

• The developed open-source EHR offers a cost-effective and accessible solution for hand rehabilitation.
• Its design facilitates independent therapeutic exercises for patients with paralysis.
• The open-source nature encourages further innovation and customization in rehabilitation device development.