Biomimetic Tendon-Based Mechanism for Finger Flexion and Extension in a Soft Hand Exoskeleton: Design and Experimental Assessment

Author:

Abdelhafiz Mohamed H.1,Andreasen Struijk Lotte N. S.2ORCID,Dosen Strahinja1ORCID,Spaich Erika G.1ORCID

Affiliation:

1. Neurorehabilitation Systems Group, Department of Health Science and Technology, Aalborg University, 9260 Gistrup, Denmark

2. Neurorehabilitation Robotics and Engineering Group, Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9260 Gistrup, Denmark

Abstract

This study proposes a bioinspired exotendon routing configuration for a tendon-based mechanism to provide finger flexion and extension that utilizes a single motor to reduce the complexity of the system. The configuration was primarily inspired by the extrinsic muscle–tendon units of the human musculoskeletal system. The function of the intrinsic muscle–tendon units was partially compensated by adding a minor modification to the configuration of the extrinsic units. The finger kinematics produced by this solution during flexion and extension were experimentally evaluated on an artificial finger and compared to that obtained using the traditional mechanism, where one exotendon was inserted at the distal phalanx. The experiments were conducted on nine healthy subjects who wore a soft exoskeleton glove equipped with the novel tendon mechanism. Contrary to the traditional approach, the proposed mechanism successfully prevented the hyperextension of the distal interphalangeal (DIP) and the metacarpophalangeal (MCP) joints. During flexion, the DIP joint angles produced by the novel mechanism were smaller than the angles generated by the traditional approach for the same proximal interphalangeal (PIP) joint angles. This provided a flexion trajectory closer to the voluntary flexion motion and avoided straining the interphalangeal coupling between the DIP and PIP joints. Finally, the proposed solution generated similar trajectories when applied to a stiff artificial finger (simulating spasticity). The results, therefore, demonstrate that the proposed approach is indeed an effective solution for the envisioned soft hand exoskeleton system.

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

Reference46 articles.

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1. Bioinspired electronics for intelligent soft robots;Nature Reviews Electrical Engineering;2024-08-05

2. Role of Natural Binding Proteins in Therapy and Diagnostics;Life;2024-05-15

3. On Optimal Tendon Routing-Based Design of Biologically Inspired Underactuated Hand Exoskeleton for Gross Grasping;IEEE Transactions on Medical Robotics and Bionics;2024-05

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