A soft robotic exomusculature glove with integrated sEMG sensing for hand rehabilitation.
A soft robotic exomusculature glove with integrated sEMG sensing for hand rehabilitation.
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DOI：
10.1109/icorr.2013.6650426
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发表时间：
2013-06-01
期刊：
影响因子：
--
通讯作者：
Fischer, Gregory S
中科院分区：
文献类型：
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作者：
Delph, Michael A 2nd;Fischer, Sarah A;Fischer, Gregory S
中风每年影响75万人，80%的中风幸存者留下了虚弱的四肢和双手。重复手部运动常被用作一种康复技术，以恢复手部运动和力量。为了促进这种康复，设计了一种机器人手套来帮助抓握练习的运动和协调。该手套利用线缆系统来打开和闭合患者的手。电缆由伺服电机驱动，安装在重13.2磅的背包中，包括电池电源。手套可以通过开关接口、软件程序或表面肌电（sEMG）信号来控制手指位置和抓握力。该系统的主要控制模式提供：主动辅助，主动阻力和预编程模式。该项目开发了康复机器人手套的工作原型，该手套在一个自由度上的全范围运动中驱动手指，并且能够产生最大15N的抓握力。
Stroke affects 750,000 people annually, and 80% of stroke survivors are left with weakened limbs and hands. Repetitive hand movement is often used as a rehabilitation technique in order to regain hand movement and strength. In order to facilitate this rehabilitation, a robotic glove was designed to aid in the movement and coordination of gripping exercises. This glove utilizes a cable system to open and close a patients hand. The cables are actuated by servomotors, mounted in a backpack weighing 13.2 lbs including battery power sources. The glove can be controlled in terms of finger position and grip force through switch interface, software program, or surface myoelectric (sEMG) signal. The primary control modes of the system provide: active assistance, active resistance and a preprogrammed mode. This project developed a working prototype of the rehabilitative robotic glove which actuates the fingers over a full range of motion across one degree-of-freedom, and is capable of generating a maximum 15N grip force.