Triolo E R, Stella M H, BuSha B F
Annu Int Conf IEEE Eng Med Biol Soc. 2018 Jul;2018:1875-1878. doi: 10.1109/EMBC.2018.8512606.
Almost 1 million Americans suffer from debilitative disorders or injuries to the hand, which result in decreased grip strength and/or impaired ability to hold objects. The objective of this study was to design and test the functioning of a fivedigit exoskeleton for the human hand that augments pinching and grasping efforts. The exoskeleton digits and the wrist and forearm structure was computer designed and 3-D printed using ABS plastic, while the housing for the control system, motors, and batteries was constructed from laser-cut acrylic. The user's finger movement efforts were monitored with force sensing resistors (FSR) located within the fingertips of the exoskeleton. A microcomputer-based control system monitored the FSRs and commanded linear actuators that augmented the wearer's force production. The exoskeleton device was tested on six healthy individuals. Using the device for grasping efforts significantly decreased the muscle activity necessary to maintain a constant force $( \mathrm {p}<0.001)$; however, no significant benefit was identified during pinching efforts. In conclusion, a novel 5-digit exoskeleton was designed, and functional testing identified a significant benefit of using the device during grasping efforts.
近100万美国人患有手部致残性疾病或受伤，导致握力下降和/或握持物体的能力受损。本研究的目的是设计并测试一种用于人手的五指外骨骼的功能，该外骨骼可增强捏握和抓握力。外骨骼手指以及手腕和前臂结构通过计算机设计，并用丙烯腈-丁二烯-苯乙烯共聚物（ABS）塑料进行3D打印，而控制系统、电机和电池的外壳则由激光切割的丙烯酸制成。通过位于外骨骼指尖内的力感应电阻器（FSR）监测用户的手指运动力。基于微型计算机的控制系统监测FSR，并控制线性致动器，增强佩戴者的力量输出。该外骨骼装置在六名健康个体上进行了测试。使用该装置进行抓握力时，显著降低了维持恒定力所需的肌肉活动（p<0.001）；然而，在捏握力测试中未发现明显益处。总之，设计了一种新型五指外骨骼，功能测试表明在抓握力测试中使用该装置具有显著益处。
