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Design of fabric-based soft robotic glove for hand function assistance

(Conference Paper)

, , ,

Center for Biomechanics Biomaterial Biomechatronics, and Biosignal Processing (CBIOM3S), Diponegoro University, Semarang, Indonesia

Mechanical Engineering Department, Diponegoro University, Semarang, Indonesia

Abstract

This research presents design and development of prototype fabric-based wearable soft exoskeleton. The soft glove employs motor-tendon for assisting the flexion and extension motion of the user's hand . Two linear actuators are used as the motor-tendon actuator system. On-off control is designed for controlling the displacement of a linear actuator connected by nylon strings to the soft glove . Step input is given to test the performance of the proposed on-off control. Based on the experimental result, the on-off control produced very small steady-state error.

The resulted soft glove is attached on human healthy hand for assisting the finger flexion and extension to grasp designated objects. Based on the test result, the proposed soft glove can assist the user/wearer in grasping three different objects. © 2019 IEEE.

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Author keywords

Fabric Linear actuator Motor-tendon Soft exoskeleton

Indexed keywords

Engineering controlled terms:

Exoskeleton (Robotics) Fabrics Linear actuators Textile fibers

Engineering uncontrolled terms

Design and Development Finger flexion Hand function On-off control Steady state errors Tendon actuator

Engineering main heading:

Tendons

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2019 6th International Conference on Information Technology, Computer and Electrical Engineering, ICITACEE 2019

Volume 2019-January, September 2019, Article number 8972668

6th International Conference on Information Technology, Computer and Electrical Engineering, ICITACEE 2019; Semarang; Indonesia; 26 September 2019 through 27 September 2019; Category numberCFP1989Z-ART; Code 155026

Ismail, R.a  Ariyanto, M.a  Hidayat, T.b Setiawan, J.D.b

a

b



View references (14)

Exoskeletons | Upper Extremity | Stroke Rehabilitation

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(2020) Applied Bionics and Biomechanics

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A three-fingered force feedback glove using fiber-reinforced soft bending actuators

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Design and Control of a Soft and Wearable Robotic Glove for Hand Rehabilitation | 柔性可穿戴康复 手套的设计与控制

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An Underactuated, Tendon- Driven, Wearable Exo-Glove with a Four-Output Differential Mechanism

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References (14)

ACKNOWLEDGMENT This work was supported by Center of excellence (PUI), Center for Biomechanics, Biomaterials, Biomachantronics and Biosignal Processing (CBIOM3S) Undip.

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ISBN: 978-172812689-0

Source Type: Conference Proceeding Original language: English

DOI: 10.1109/ICITACEE47699.2019.8972668 Document Type: Conference Paper

Sponsors: Department of Computer Engineering, Diponegoro University

Publisher: Institute of Electrical and Electronics Engineers Inc.

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General Chair

Adian Fatchur Rochim (Diponegoro University, Indonesia)

General Co-Chair

Trias Andromeda (Universitas Diponegoro, Indonesia)

Secretary I

Dania Eridani (Diponegoro University, Indonesia)

Secretary II

Ike Pertiwi (Diponegoro University, Indonesia)

TPC Chair

Iwan Setiawan (Universitas Diponegoro, Indonesia)

TPC Co-Chair

Oky Nurhayati (Diponegoro University, Indonesia)

Finance I

Risma Septiana (Diponegoro University, Indonesia)

Finance II

Melati Mawastiti (Diponegoro University, Indonesia)

Publication Chair

Eko Didik Widianto (Diponegoro University, Indonesia)

Publication Co-Chair

Kuntoro Adi Nugroho (Universitas Diponegoro, Indonesia)

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Kurniawan Martono (Diponegoro University, Indonesia)

Program Section II

Adnan Fauzi (Diponegoro University, Indonesia)

Program Section III

Yudi Windarto (Diponegoro University, Indonesia)

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(20)

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Thursday, September 26 Invited Speaker Session 3

Room: Amarta 2 and Amarta 3

IS3.1Backward Compatible Low PAPR Preamble for Very High Throughput WLAN IEEE802.11ac Wahyul Amien Syafei, Achmad Hidayatno and Ajub Ajulian Zahra

Presenter bio:B.Eng 95 Electrical Engineering Faculty of Engineering Diponegoro University, Indonesia. M.Eng 02 Multimedia Telecommunication Faculty of Engineering Sepuluh Nopember Institute of Technology, Indonesia. Ph.D 09 Department of Electronics and System Engineering Computer Science and Electronics Kyushu Institute of Technology, Japan. Field: Wireless Telecommunication and Mutimedia, MIMO, OFDM, Familiar with IEEE 802.11a/b/g/n/ ac, 3rd-Dan in Karate, 3rd-Dan in Kobudo, Instructor of Okinawan Kobudo, Gold Medal Shorinji Kempo. Speaking: Bahasa Indonesia, Java, Sunda, English, Japanese, Arabic

pp. 1-6

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