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Numerical and experimental study of a wearable exo-glove for telerehabilitation application using shape memory alloy actuators
Citation Link: https://doi.org/10.15480/882.13596
Publikationstyp
Journal Article
Date Issued
2024-10-11
Sprache
English
TORE-DOI
Journal
Volume
13
Issue
10
Article Number
409
Citation
Actuators 13 (10): 409 (2024)
Publisher DOI
Scopus ID
Publisher
Multidisciplinary Digital Publishing Institute
Hand paralysis, caused by conditions such as spinal cord injuries, strokes, and arthritis, significantly hinders daily activities. Wearable exo-gloves and telerehabilitation offer effective hand training solutions to aid the recovery process. This study presents the development of lightweight wearable exo-gloves designed for finger telerehabilitation. The prototype uses NiTi shape memory alloy (SMA) actuators to control five fingers. Specialized end effectors target the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints, mimicking human finger tendon actions. A variable structure controller, managed through a web-based Human–Machine Interface (HMI), allows remote adjustments. Thermal behavior, dynamics, and overall performance were modeled in MATLAB Simulink, with experimental validation confirming the model’s efficacy. The phase transformation characteristics of NiTi shape memory wire were studied using the Souza–Auricchio model within COMSOL Multiphysics 6.2 software. Comparing the simulation to trial data showed an average error of 2.76°. The range of motion for the MCP, PIP, and DIP joints was 21°, 65°, and 60.3°, respectively. Additionally, a minimum torque of 0.2 Nm at each finger joint was observed, which is sufficient to overcome resistance and meet the torque requirements. Results demonstrate that integrating SMA actuators with telerehabilitation addresses the need for compact and efficient wearable devices, potentially improving patient outcomes through remote therapy.
Subjects
human–machine interface
shape memory alloy
simulation
telerehabilitation
wearable exo-glove
DDC Class
610: Medicine, Health
620: Engineering
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