NDLI: EMG controlled soft robotic glove for assistance during activities of daily living

Content Provider	IEEE Xplore Digital Library
Author	Polygerinos, P. Galloway, K.C. Sanan, S. Herman, M. Walsh, C.J.
Copyright Year	2015
Description	Author affiliation: Harvard Biodesign Lab., Harvard Univ., Cambridge, MA, USA (Polygerinos, P.; Galloway, K.C.; Sanan, S.; Herman, M.; Walsh, C.J.)
Abstract	This paper presents further developments, characterization and initial evaluation of a recently developed assistive soft robotic glove for individuals with hand pathologies. The glove technology utilizes a combination of elastomeric and inextensible materials to create soft actuators that conform to the user's hand and can generate sufficient hand closing force to assist with activities of daily living. User intent (i.e. desire to close or open hand) is detected by monitoring gross muscle activation signals with surface electromyography electrodes mounted on the user's forearm. In particular, we present an open-loop sEMG logic that distinguishes muscle contractions and feeds the information to a low-level fluidic pressure controller that regulates pressure in pre-selected groups of the glove's actuators. Experiments are conducted to determine the level of assistance provided by the glove by monitoring muscle effort and mapping the pressure distribution during a simple grasping task when the glove is worn. Lastly, quantitative and qualitative results are presented using the sEMG-controlled glove on a healthy participant and on a patient with muscular dystrophy.
Starting Page	55
Ending Page	60
File Size	2701644
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281175
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	soft robotic glove hand assistance Actuators Thumb activities of daily living electromyography Grasping Muscles Robot sensing systems Electromyography soft actuator EMG
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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