Development of a Soft, Spring-Like Finger Tendon Exo-Glove Design with a Four-Output Cable-Driven Linear...

Area of Science:

• Biomedical Engineering
• Rehabilitation Robotics
• Assistive Technology

Background:

• Hand paralysis from stroke significantly impacts daily living and independence.
• Existing hand rehabilitation exoskeletons face challenges in enabling diverse daily tasks.
• Need for lightweight, affordable, and effective assistive devices for hand function recovery.

Purpose of the Study:

• To present the Rehabilitative Tendon Actuated Control Hand Exo-Glove (RTAC-HEG).
• To evaluate the performance metrics of the RTAC-HEG for grasping capabilities.
• To offer a lighter and more affordable alternative to current exoglove technologies.

Main Methods:

• Development of a soft exo-glove with springlike finger tendons.
• Utilized four actuated rack and pinion transmissions for finger flexion/extension.
• Conducted force validation experiments to measure fingertip forces and grasping capabilities.

Main Results:

• Achieved average fingertip forces: 4.95 N (thumb), 4.66 N (index), 6.61 N (middle), 3.89 N (ring).
• Demonstrated a maximum hand grasping force of 21 N.
• Exhibited an open/close grasping time of 1.2 seconds and capability to handle objects up to 450 g.

Conclusions:

• The RTAC-HEG meets healthy hand grasping criteria.
• The developed exo-glove is lighter, more affordable, and less complex than existing solutions.
• This technology shows promise for improving hand functionality and independence in individuals with hand paralysis.