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

Panagiotis Polygerinos, Kevin C. Galloway, Siddharth Sanan, Maxwell Herman, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

85 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Rehabilitation Robotics
PublisherIEEE Computer Society
Pages55-60
Number of pages6
Volume2015-September
ISBN (Print)9781479918072
DOIs
StatePublished - Sep 28 2015
Externally publishedYes
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Other

Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

Keywords

  • activities of daily living
  • electromyography
  • EMG
  • hand assistance
  • soft actuator
  • soft robotic glove

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation

Fingerprint Dive into the research topics of 'EMG controlled soft robotic glove for assistance during activities of daily living'. Together they form a unique fingerprint.

Cite this