A Wearable Robotic Glove based on Optical FMG Driven Controller

摘要

This work presents the development of an underactuated glove-like orthosis to be used by people with disabilities of the hand and focused on those who can not perform firm grasps. This assistive device uses a tendon-driven system in order to perform the finger flexion/extension movements that are triggered by optical fiber force myography sensors placed on an opposites pair of muscles. A simpler but robust strategy of control is proposed in order to consciously interpret the user intent. Moreover, a force sensitive resistor is used to close the control loop with the aim to perform a proportional grip strength to the force performed by the flexor group of muscles. Experiments conducted indicates satisfactory results related to the type of grasp, providing grip strenght to perform activities of daily living. In addition, results confirm that optical FMG transducers can be used as control input for trigger the system.