HAND EXOSKELETON FOR ASSISTIVE FUNCTION

Abstract

Hand exoskeletons offer a promising avenue for assisting individuals with hand impairments and enhancing rehabilitation outcomes. However, current designs often confront challenges related to vibrations and backlash, hindering user comfort and control. This research delves into the development of a novel three-spring hand exoskeleton specifically designed to address these issues while simultaneously providing personalized assistive force based on user-specific needs. The proposed design incorporates a three-layered sliding spring mechanism that closely mimics human finger biomechanics, ensuring natural and safe hand movements. This system leverages a slider spring mechanism to effectively mitigate excessive bending in the force-bearing spring, thereby reducing vibrations and backlash. Furthermore, the exoskeleton employs EMG-based actuation, harnessing electromyography (EMG) signals to personalize force delivery by individual muscle activation patterns. The integration of EMG sensors enables real-time control without the need for bulky controls, significantly enhancing user experience and promoting independence. This approach not only promotes intuitive control but also contributes to an improved user experience. The Bowden cable transmission system, with its inherent flexibility and compactness, facilitates integration into various hand functionalities, further enhancing the design's potential. To establish a strong foundation for the proposed design, the thesis undertakes a comprehensive literature review. This review dives into the realms of finger biomechanics, pneumatic and hydraulic actuation methods, and remote actuation approaches, ensuring a well-informed and theoretically sound design basis. The report also discusses future advancements in EMG-based control systems, highlighting their potential to further enhance the functionality and usability of assistive hand exoskeletons. Recommendations include continued research in EMG-based control systems, exploration of innovative manufacturing techniques, and collaboration with healthcare professionals to ensure the exoskeleton meets the diverse needs of users.