Bilateral mode exoskeleton for hand rehabilitation with wireless control using 3D printing technology based on IMU sensor
Triwiyanto Triwiyanto,
Sari Luthfiyah,
I. Putu Alit Pawana,
Abdussalam Ali Ahmed,
Alcham Andrian
Affiliations
Triwiyanto Triwiyanto
Department of Medical Electronics Technology, Poltekkes Kemenkes Surabaya, Indonesia; Intelligent Medical Rehabilitation Devices Research Group, Department of Medical Electronics Technology, Poltekkes Kemenkes Surabaya, Indonesia; Corresponding author at: Department of Medical Electronics Technology, Poltekkes Kemenkes Surabaya, Indonesia.
Sari Luthfiyah
Department of Medical Electronics Technology, Poltekkes Kemenkes Surabaya, Indonesia
I. Putu Alit Pawana
Faculty of Medicine, Physical Medicine and Rehabilitation, Universitas Airlangga, Indonesia
Abdussalam Ali Ahmed
Department of Mechanical and Industrial Engineering, Bani Waleed University, Libya
Alcham Andrian
Department of Medical Electronics Technology, Poltekkes Kemenkes Surabaya, Indonesia
This research aimed to develop an open-source exoskeleton for hand rehabilitation (EHR) device that can be controlled wirelessly in bilateral mode. This design has the advantage of being light and being controlled easily using WiFi-based wireless communication by non-paretic hands. This open-source EHR composed of two parts, namely the master and slave parts, each of which uses a mini ESP32 microcontroller, IMU sensor, and 3D printing. The mean RMSE obtained for all exoskeleton fingers is 9.04°. Since the EHR design is open source, the researchers can create and develop rehabilitation device for the therapeutic process of patients who are paralyzed or partially paralyzed independently using healthy hand.
