Bio-inspired tendon driven mechanism for simultaneous finger joints flexion using a soft hand exoskeleton

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.5 times the distal interphalangeal joint angle. The study aimed to comply with this constraint, by simultaneously distributing the forces over the distal and middle finger phalanges. For evaluation, the voluntary and exoskeleton flexions were compared based on the relation between the proximal and distal interphalangeal joint angles. The results showed that during the exoskeleton flexion the relation between the interphalangeal joints complied with the biomechanical constraint, where the proximal interphalangeal joint angle was 1.5 times larger than the distal interphalangeal joint. This ensures that the mechanism flexes the finger comfortably. The proposed solution is therefore a promising design for a novel soft exoskeleton that will be used for training and assistance of patients with hand paralysis.

Original languageEnglish
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
Number of pages6
PublisherIEEE
Publication date2019
Pages1073-1078
Article number8779547
ISBN (Electronic)978-1-7281-2755-2
DOIs
Publication statusPublished - 2019
EventInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019) - Toronto, Canada
Duration: 24 Jun 201928 Jun 2019

Conference

ConferenceInternational Conference on Rehabilitation Robotics 2019 (ICORR 2019)
CountryCanada
CityToronto
Period24/06/201928/06/2019
SeriesI E E E International Conference on Rehabilitation Robotics. Proceedings
Volume16
ISSN1945-7898

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