Assistive Rehabilitation Robotic Glove

Abstract

Two novel designs for a rehabilitation robotic glove are detailed. The paper focuses of the design and implementation of these devices. The main aim is to explore lightweight, low profile gloves that can facilitate movement of fingers that have lost strength or nerve control. This has been by achieved by using an exoskeleton to provide the actuation for flexion, thereby limiting the number of active actuators required. Pneumatic muscle actuators were used to provide flexion force, and force sensors used to supply control inputs by the user. Control methods have been implemented that would help lead to the development of rehabilitation programs. The glove can also be used as an assistive device in order to allow the patient to grasp and pick up objects. Prototype I, with 1 DOF, was found to successfully actuate a hand in order to grasp a shape similar in size to a golf ball. Prototype II, with 3 DOF, achieved actuation of a single finger from fully flexed to at rest elongation.