Design and modeling of a hybrid soft-rigid hand exoskeleton for poststroke rehabilitation

Lin, Legeng; Zhang, Fuhai; Yang, Lei; Fu, Yili

doi:10.1016/j.ijmecsci.2021.106831

Cited by 30 publications

(16 citation statements)

References 22 publications

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“…Because the rigid exoskeleton is heavy and inconvenient to wear, the flexible exoskeleton is comfortable to wear, but it is difficult to control. Therefore, Lin et al designed a hand exoskeleton with both rigidity and flexibility, and adopted a sliding spring mechanism consist of three different layers (TLSS) [17]. Through analysis of the length, width and thickness.…”

Section: Soft or Flexible Hand Exoskeleton Designmentioning

confidence: 99%

Solution For Improving Wearing Comfort of Hands Exoskeleton

Lu¹,

Wang²,

Zhang³

2023

HSET

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In recent years, with the development of exoskeleton technology, it has been widely applied in the area of rehabilitation. However, in the rehabilitation of neurological diseases such as cerebral stroke, the rehabilitation of hands exists multifaceted difficulties. Long treatment period, choices of therapeutic schedule and costly treatment are common factors that affect the efficiency of rehabilitation. To improve hands exoskeleton’s therapeutic effect in the neurological rehabilitation. A considerable number of papers have been studied and the development trend of hands exoskeleton was revealed. This review focuses on the wearing comfort of hands exoskeleton, since wearing comfort is an essential factor when launching arm exoskeleton on the market. This article elaborates on the methods of improving exoskeleton’s wearing comfort based on rigid mechanism design and soft or flexible hand exoskeleton design. This article mainly discusses the improving control system and adapted materials, aiming at finding the similarities and differences among various solutions. Pictures concerning each method are also provided for better understanding. Besides, this article provides conclusive perspectives on the existing design and expectations for the further studies.

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Section: Soft or Flexible Hand Exoskeleton Designmentioning

confidence: 99%

Solution For Improving Wearing Comfort of Hands Exoskeleton

Lu¹,

Wang²,

Zhang³

2023

HSET

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“…It can be quickly custom-designed to fit the anatomy of individual users, that is, soft actuators were mechanically programmed to match and support the range of motion of individual fingers. Given the condition that soft devices tend to lack well-understood models and traditional rigid devices are always with excessive stiffness, a hybrid soft-rigid exoskeleton (HSRexo) is presented, adopting the simplified three-layered sliding spring (sTLSS) mechanism that combines the intrinsic compliance and comprehensible kinematics [38].…”

Section: Applied Bionics and Biomechanicsmentioning

confidence: 99%

A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis

Dai

Yang

et al. 2022

Applied Bionics and Biomechanics

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A novel robotic exoskeleton for fingers rehabilitation is developed, which is driven by linear motors through Bowden cables. For each finger, in addition to three links acting as phalanxes, two more links acting as knuckles are also implemented. Links are connected through passive joints, by which translational and rotary movements can be realized simultaneously. Either flexion or extension motion is accomplished by one cable of adequate stiffness. This exoskeleton possesses good adaptability to finger length of different subjects and length variations during movement. The exoskeleton’s kinematics model is built by the statistics method, and piecewise polynomial functions (PPF) are chosen to describe the relationship between motor displacement and joint variables. Finally, the relationship between motor displacement and the finger’s total bending angle is obtained, which can be used for rehabilitation trajectory planning. Experimental results show that this exoskeleton achieves nearly the maximum finger bending angle of a healthy adult person, with the maximum driving force of 68.6 N.

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“…When the fingers do adduction and abduction, the joints of the mechanism are allowed to make specific axial displacements along the index finger. This design aims to enable this device to recognize the exoskeleton's articulation with good flexibility, high reverse drive and low reflection inertia [9].…”

Section: 21plane Joint As a Connectionmentioning

confidence: 99%

“…In contrast, nearly 80% of stroke survivors have physical disorders, among which hand disorders are more serious [1] because hands play the most crucial role in daily activities. Traditional physiotherapist-assisted rehabilitation therapy has the disadvantages of being labour-intensive, low efficiency and high cost [2,9]. On the contrary, robot-assisted rehabilitation has the advantages of sparse labour, long duration, good repeatability and good task positioning [3].…”

Section: Introductionmentioning

confidence: 99%