Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients With Brachial Plexus Injuries

Wenda Xu; Yunfei Guo; Cesar BravoPinhas Ben-Tzvi

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Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients With Brachial Plexus Injuries

机译：Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients With Brachial Plexus Injuries

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摘要

This article presents the development of an exoskeleton glove system for people who suffer from brachial plexus injuries, aiming to assist their lost grasping functionality. The robotic system consists of a portable glove system and an embedded controller. The glove system consists of linear series elastic actuators, rotary series elastic actuators, and optimized finger linkages to provide imitated human motion to each finger and a coupled motion of the hand. The design principles and optimization strategies were investigated to balance functionality, portability, and stability. The model-based force control strategy compensated with a backlash model and model-free force control strategy are presented and compared. Results show that our proposed model-free control method achieves the goal of accurate force control. Finally, experiments were conducted with the prototype of the developed integrated exoskeleton glove system. Results from three subjects with 150 trials show that our proposed exoskeleton glove system has the potential to be used as a rehabilitation device for patients.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1637-1652|共16页
作者
Wenda Xu; Yunfei Guo; Cesar BravoPinhas Ben-Tzvi;
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作者单位

Mechanical Engineering Department, Virginia Tech, Blacksburg, VA, USA;

Electrical and Computer Engineering Department, Virginia Tech, Blacksburg, VA, USA;

Carilion Clinic Institute of Orthopaedics and Neurosciences, Virginia Tech Carilion School of Medicine, Roanoke, VA, USAMechanical Engineering and Electrical and Computer Engineering Departments, Virginia Tech, Blacksburg, VA, USA;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Exoskeletons; Couplings; Kinematics; Force control; Force; Indexes; Springs;

Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients With Brachial Plexus Injuries

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