TY - JOUR
T1 - CHAD
T2 - Compact Hand-Assistive Device for enhancement of function in hand impairments[Formula presented]
AU - Alnajjar, Fady
AU - Umari, Hassan
AU - Ahmed, Waleed K.
AU - Gochoo, Munkhjargal
AU - Vogan, Alistair A.
AU - Aljumaily, Adel
AU - Mohamad, Peer
AU - Shimoda, Shingo
N1 - Funding Information:
Waleed K. Ahmed obtained B.Sc. in Mechanical Engineering from the University of Baghdad in 1992. Served over 6 years in the manufacturing and quality control industrial sector. In 2000, obtained M.Sc. in Applied Mechanics from the University of Technology, Baghdad. Appointed as a lecturer in 2001 at the Materials Engineering Department, Al-Mustansiriya University, Baghdad. In 2006 completed Ph.D. from Al-Mustansiriya University joint venture with the University of Nottingham. Worked as a consultant for many industrial companies. Dr. Waleed moved to work at United Arab Emirates University in 2006. From 2009 to 2019, worked as an instructor in the Engineering Requirements Unit as well as serving the Mechanical Engineering Department. Published more than 50 journals and conference papers. The main interest in renewable energy, nanomaterials, failure analysis, FEA, fracture mechanics, forensic engineering, composite recycling, as well as e-Learning. Awarded UAEU Chancellor Innovation Award for 2017(Education), 2018(Space) and 2019(Technology). Has five granted patents and 2 under examination. Granted AUA (Asian Universities Alliance) Fellowship Award 2019 conducting research at Nanotechnology and Catalysis Research Centre in UM, Malaysia. Nowadays focusing on 3D printing technology in material, manufacturing, and education.
Funding Information:
This work was supported in part by a Startup Grant from UAE University under Grant 31T082 .
Publisher Copyright:
© 2021 Elsevier B.V.
PY - 2021/8
Y1 - 2021/8
N2 - Hand-assistive devices are used to help post-stroke victims encumbered with hand impairments perform activities of daily living (ADL). Unlike robotic rehabilitation devices used in restricted medical conditions for designated periods, hand-assistive devices are designed to be portable and to be used for extended periods by individuals engaging in ADL. Several hand-assistive device designs have been proposed. With these, designers have focused on key elements, such as size, weight, motion profile of the fingers, and generated grip/pinch force. In this paper, we propose a unique compact hand-assistive device (CHAD) that incorporates most of these design parameters, but with less trade-offs. CHAD consists of a single unit worn on the patient's forearm, which includes all necessary components. It is compact and does not compromise functionality. The novelty of this design can be found in the use of a unique cable-driven mechanism. This mechanism uses dual linear actuators to achieve the flexion of both the index and the middle fingers via the pull of tendon-like structures originating in two selected interphalangeal joints. This permits the numerous necessary sequences in the motion profiles of the digits. The thumb is also made able to flex with a single linear actuator. Finger extensions, in contrast, are achieved passively via adjustable flexible rubber cords joined to the dorsal side of the glove. Experimental results demonstrate that CHAD generates sufficient force and motion profiles for the comfortable execution of ADL. Additionally, CHAD produces a grip and pinch motion profile similar to that of a natural hand and does not force unwanted muscle activities.
AB - Hand-assistive devices are used to help post-stroke victims encumbered with hand impairments perform activities of daily living (ADL). Unlike robotic rehabilitation devices used in restricted medical conditions for designated periods, hand-assistive devices are designed to be portable and to be used for extended periods by individuals engaging in ADL. Several hand-assistive device designs have been proposed. With these, designers have focused on key elements, such as size, weight, motion profile of the fingers, and generated grip/pinch force. In this paper, we propose a unique compact hand-assistive device (CHAD) that incorporates most of these design parameters, but with less trade-offs. CHAD consists of a single unit worn on the patient's forearm, which includes all necessary components. It is compact and does not compromise functionality. The novelty of this design can be found in the use of a unique cable-driven mechanism. This mechanism uses dual linear actuators to achieve the flexion of both the index and the middle fingers via the pull of tendon-like structures originating in two selected interphalangeal joints. This permits the numerous necessary sequences in the motion profiles of the digits. The thumb is also made able to flex with a single linear actuator. Finger extensions, in contrast, are achieved passively via adjustable flexible rubber cords joined to the dorsal side of the glove. Experimental results demonstrate that CHAD generates sufficient force and motion profiles for the comfortable execution of ADL. Additionally, CHAD produces a grip and pinch motion profile similar to that of a natural hand and does not force unwanted muscle activities.
KW - Activities of daily living
KW - Assistive wearable robot
KW - Post-stroke
KW - Soft robotic glove
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U2 - 10.1016/j.robot.2021.103784
DO - 10.1016/j.robot.2021.103784
M3 - Article
AN - SCOPUS:85104796892
SN - 0921-8890
VL - 142
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 103784
ER -