DESIGN AND DEVELOPMENT OF A LINEAR MOTORIZED SOFT ROBOTICS EXO-MUSCULAR (SMER) GLOVE

With advancements in technology, soft robotics exoskeletons and artificial muscles are being used for post-stroke rehabilitation due to their soft material and the provision of safe human interaction.Soft robotics exoskeleton systems can interface and be controlled with brain signals and the neurofeedback concept, mostly known as Brain-Computer Interface (BCI), making them suitable for patients with various motor impairments and recovery stages.However, soft robotics exco-muscular technology is still an open area of research as it is dealing with several challenges.These challenges include the rigid bodies of the wearable device, excessive weight, difficulty in maintaining hygiene, and discomfort for users.This study proposed a novel Soft Robotics Exo-Muscular Glove (SREM) with the integration of bracket guides and actuated by coiled Shape-Memory Alloy (SMA) to address the comfort, flexibility, and bulkiness problem.The SREM glove is designed to help exercise the flexion and extension capability of the fingers and rehabilitate the fist and release tasks of the hand.In addition, the proposed structure of the SREM is designed to be controlled by the Linear Motorized Unit (LMU), which consists of a servo motor, a control unit, and a microprocessor.The Coiled Shape Memory Alloy (SMA) is implemented to maintain the position of the ligature wires, reduce power consumption, and provide higher actuation, strain, and frequency that is placed on intermediate phalanges to the palm (metacarpals).The prototype only includes flexion and extension; therefore, the thumb is considered primarily obsolete.The SREM prototype has a system that has successfully undergone testing with real-time BCI, demonstrating its ability to perform, namely, grab and realize tasks.This test and evaluation process includes interacting with objects of various sizes and shapes with both vertical and horizontal positions.This test demonstrates the prototype's versatility and its potential application for users.