A fabric-based soft hand exoskeleton for assistance: the ExHand Exoskeleton Article Swipe
Juan C. Maldonado-Mejía
,
Marcela Múnera
,
Camilo A. R. Díaz
,
Helge Würdemann
,
Mehran Moazen
,
María José Pontes
,
Marcelo E. V. Segatto
,
Maxwell E. Monteiro
,
Carlos A. Cifuentes
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3389/fnbot.2023.1091827
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3389/fnbot.2023.1091827
Introduction The rise of soft robotics has driven the development of devices for assistance in activities of daily living (ADL). Likewise, different types of actuation have been developed for safer human interaction. Recently, textile-based pneumatic actuation has been introduced in hand exoskeletons for features such as biocompatibility, flexibility, and durability. These devices have demonstrated their potential use in assisting ADLs, such as the degrees of freedom assisted, the force exerted, or the inclusion of sensors. However, performing ADLs requires the use of different objects, so exoskeletons must provide the ability to grasp and maintain stable contact with a variety of objects to lead to the successful development of ADLs. Although textile-based exoskeletons have demonstrated significant advancements, the ability of these devices to maintain stable contact with a variety of objects commonly used in ADLs has yet to be fully evaluated. Materials and methods This paper presents the development and experimental validation in healthy users of a fabric-based soft hand exoskeleton through a grasping performance test using The Anthropomorphic Hand Assessment Protocol (AHAP), which assesses eight types of grasping with 24 objects of different shapes, sizes, textures, weights, and rigidities, and two standardized tests used in the rehabilitation processes of post- stroke patients. Results and discussion A total of 10 healthy users (45.50 ± 14.93 years old) participated in this study. The results indicate that the device can assist in developing ADLs by evaluating the eight types of grasps of the AHAP. A score of 95.76 ± 2.90% out of 100% was obtained for the Maintaining Score, indicating that the ExHand Exoskeleton can maintain stable contact with various daily living objects. In addition, the results of the user satisfaction questionnaire indicated a positive mean score of 4.27 ± 0.34 on a Likert scale ranging from 1 to 5.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3389/fnbot.2023.1091827
- https://www.frontiersin.org/articles/10.3389/fnbot.2023.1091827/pdf
- OA Status
- gold
- Cited By
- 15
- References
- 53
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4380681063
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4380681063Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3389/fnbot.2023.1091827Digital Object Identifier
- Title
-
A fabric-based soft hand exoskeleton for assistance: the ExHand ExoskeletonWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-06-15Full publication date if available
- Authors
-
Juan C. Maldonado-Mejía, Marcela Múnera, Camilo A. R. Díaz, Helge Würdemann, Mehran Moazen, María José Pontes, Marcelo E. V. Segatto, Maxwell E. Monteiro, Carlos A. CifuentesList of authors in order
- Landing page
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https://doi.org/10.3389/fnbot.2023.1091827Publisher landing page
- PDF URL
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https://www.frontiersin.org/articles/10.3389/fnbot.2023.1091827/pdfDirect link to full text PDF
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YesWhether a free full text is available
- OA status
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goldOpen access status per OpenAlex
- OA URL
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https://www.frontiersin.org/articles/10.3389/fnbot.2023.1091827/pdfDirect OA link when available
- Concepts
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Exoskeleton, Computer science, Artificial intelligence, Computer vision, SimulationTop concepts (fields/topics) attached by OpenAlex
- Cited by
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15Total citation count in OpenAlex
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2025: 8, 2024: 5, 2023: 2Per-year citation counts (last 5 years)
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53Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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