Design and experimental validation of an intention-controlled cable-driven soft robotic glove exoskeleton for assistance and rehabilitation

Abstract Neurological and musculoskeletal diseases have seriously impacted the quality of people’s lives. Various types of exoskeleton robots have been introduced to address this challenge in recent years. In this study, a lightweight and wearable underactuated cable-driven soft robotic intention-controlled glove exoskeleton (SRIG-Exo) is developed for assistance and rehabilitation training of individuals with injuries and disorders. The device comprises a soft robotic glove, a detachable cable connector, an underactuated linear actuator, and an active intention-controlled algorithm technique. The SRIG glove is equipped with tactile and flex sensors, along with tendons routed to facilitate finger movements. The detachable cable connector connects the glove with the actuator unit. The design of the linear actuator incorporates the threaded rod and nut mechanism to exert tension on the tendons. The intent signal from the glove sensors is utilized to activate the motor for opening and closing the hand, enabling active-controlled assistance and rehabilitation. This integration enhances the functionality and rehabilitation capabilities of the device. The constraints include the fingers having one degree of freedom (DoF), the control system requiring partial finger movement, and the wearer’s strength capability for normal device usage. The SRIG-Exo can support a maximum cable displacement range of 10 cm with a maximum grasping force of 30 N. Socially, this SRIG-Exo may improve independence in activities of daily living (ADLs), such as eating and drinking, for individuals with weakened strength and hand disorders, offering significant social and economic benefits.