GRIP FORCE MEASUREMENT OF SOFT- ACTUATED FINGER EXOSKELETON

Author:

Nordin I. N. A. M.,Faudzi A. A. M.,Kamarudin M. Z.,Octorina Dewi Dyah Ekashanti,Rehman Tariq,Razif M. R. M.

Abstract

Over recent years, the reseach in the field of soft actuation has been extensively increased for achieving more complex motion path with smooth, high flexible movement and high generated force at minimum operating pressure. This paper presents the study on gripping force capability of soft actuators applied on glove-type finger exoskeleton, developed in motivation to assist individuals having weak finger gripping ability in their rehabilitation exercise towards hand function restoration. The exoskeleton utilizes five cylindrical shaped pneumatic bending actuators developed in the lab, which use fiber reinforcement as a cause of bending motion that drive finger’s flexion movement. Four right-handed healthy volunteers simulated paralysis participated in the study. At 200kPa safe operating pressure, the soft exoskeleton worn by the subjects demonstrates the ability to provide adequate grip force. The grip force generated from exoskeleton worn on passive right hand is 4.66 ± 0.2 N and 3.61± 0.2 N from passive left hand, both higher than the minimum grip forces measured to hold the Hand Dynamometer of 240 g. It shows good potential to be used as a finger rehabilitation assist device. 

Publisher

Penerbit UTM Press

Subject

General Engineering

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Soft Exoskeleton for Hand Rehabilitation: An Overview;2022 IEEE 10th Conference on Systems, Process & Control (ICSPC);2022-12-17

2. Assessment of Soft Actuators for Hand Exoskeletons: Pleated Textile Actuators and Fiber-Reinforced Silicone Actuators;Frontiers in Bioengineering and Biotechnology;2022-07-12

3. A Comparison of Silicone and Fabric Inflatable Actuators for Soft Hand Exoskeletons;2022 IEEE 5th International Conference on Soft Robotics (RoboSoft);2022-04-04

4. Sensors and Actuation Technologies in Exoskeletons: A Review;Sensors;2022-01-24

5. Co-axial Linear-Rotary Actuator with Braided McKibben Artificial Muscles;Journal of the Robotics Society of Japan;2020

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