Development of an Exoskeletal Glove using Hybrid Robotics for Motor Function Rehabilitation

Canto-Vivanco E.; Nuñez D.L.; Ramos-Cosi S.; Alva V.R. · International Journal of Engineering Trends and Technology (2024) · DOI: 10.14445/22315381/ijett-v72i3p104

Resumen

The number of people with motor disabilities has increased compared to previous years, and it is estimated that it will continue to grow; the fact that a part of the body does not function properly limits the independence of the affected person, an important part is a hand because with it we interact with our environment. To recover its functionality, therapeutic exercises are usually performed; from engineering, one of the proposals is the use of an exoskeleton. Many exoskeletons apply rigid or soft robotics, and very few are hybrids. Therefore, in this work, a hybrid exoskeleton glove is developed to detect the user's intention of movement; for this purpose, a resistive force sensor was used. For the movement, servomotors with a crank-crank mechanism were used to obtain a linear movement. The tests consisted of a force measurement and the adaptability of the device when holding different objects. Relatively low weight was obtained, and considering the number of actuators, the force achieved is efficient for performing Activities of Daily Living (ADL).

Instituciones: Universidad de Ciencias y Humanidades