Produção Nacional
Revisado por pares
Design of Tendon-Actuated Robotic Glove Integrated with Optical Fiber Force Myography Sensor
2021; Multidisciplinary Digital Publishing Institute; Volume: 2; Issue: 3 Linguagem: Inglês
10.3390/automation2030012
ISSN2673-4052
AutoresAntonio Ribas Neto, Julio Fajardo, Willian Hideak Arita da Silva, Matheus K. Gomes, Maria Claudia F. Castro, Eric Fujiwara, Eric Rohmer,
Tópico(s)Robot Manipulation and Learning
ResumoPeople taken by upper limb disorders caused by neurological diseases suffer from grip weakening, which affects their quality of life. Researches on soft wearable robotics and advances in sensor technology emerge as promising alternatives to develop assistive and rehabilitative technologies. However, current systems rely on surface electromyography and complex machine learning classifiers to retrieve the user intentions. In addition, the grasp assistance through electromechanical or fluidic actuators is passive and does not contribute to the rehabilitation of upper-limb muscles. Therefore, this paper presents a robotic glove integrated with a force myography sensor. The glove-like orthosis features tendon-driven actuation through servo motors, working as an assistive device for people with hand disabilities. The detection of user intentions employs an optical fiber force myography sensor, simplifying the operation beyond the usual electromyography approach. Moreover, the proposed system applies functional electrical stimulation to activate the grasp collaboratively with the tendon mechanism, providing motion support and assisting rehabilitation.
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