Design of an assistive, glove-based exoskeleton

Abstract

A soft robotic exoskeleton has been designed to serve as an assistive device to increase quality of life and independence, as well as a task-based robotic hand therapy research testbed for the cervical level spinal cord injury (SCI) population. The design of this glove incorporated user feedback within an iterative, collaborative development process. This compliant, glove-like exoskeleton is underactuated, with fewer actuators than degrees of freedom (DOF), and can accomplish seven poses which support most activities of daily living (ADL). In addition to its role as an assistive device, this glove has the potential to provide individuals with impairment with “hands-in” rehabilitation centered on performing functional tasks. Future investigations of the role of the assistive glove in upper extremity function and reaching will focus on the potential lor the device to increase the quantity and quality of use of the unassisted upper extremity joints during tasks.