Design and Preliminary Evaluation of a Soft Finger Exoskeleton Controlled by Isometric Grip Force

Abstract

Hand exoskeletons are potential solutions for enhancing upper extremity function after stroke, yet achieving intuitive control remains challenging. We recently showed that isometric grip force tracking is preserved after stroke, providing a possible control source for a hand exoskeleton. In this study, we developed a hand exoskeleton with a soft compliant mechanism and novel force control strategy that leverages isometric grip force control of digits 3–5 to control an index–thumb pinch grip. We first present characterization of the compliant mechanisms output impedance (34.77 N/m), and output force (2.3 ± 0.57 N). We then present results of a study that assessed the intuitiveness of the strategy during a grip–lift–move task in ten unimpaired individuals. From four unimpaired individuals we also gathered user preferences on force sensitivity and operating mode, where in one mode flexion force from digits 3–5 caused index finger closing, while in the other mode it caused index finger opening. The strategy proved intuitive, improving movement frequency on the grip–lift–move task by 30%. Users preferred greater force sensitivity and using flexion force from digits 3–5 to drive index finger extension. The force control strategy incorporated into the exoskeleton shows promise warranting further investigation in neurologically impaired participants.

Keywords

• hand exoskeleton
• grip force control
• compliant mechanism
• assistive robotics