A soft robotic exomusculature glove with integrated sEMG sensing for hand rehabilitation

IEEE Int Conf Rehabil Robot. 2013 Jun;2013:6650426. doi: 10.1109/ICORR.2013.6650426.


Stroke affects 750,000 people annually, and 80% of stroke survivors are left with weakened limbs and hands. Repetitive hand movement is often used as a rehabilitation technique in order to regain hand movement and strength. In order to facilitate this rehabilitation, a robotic glove was designed to aid in the movement and coordination of gripping exercises. This glove utilizes a cable system to open and close a patients hand. The cables are actuated by servomotors, mounted in a backpack weighing 13.2 lbs including battery power sources. The glove can be controlled in terms of finger position and grip force through switch interface, software program, or surface myoelectric (sEMG) signal. The primary control modes of the system provide: active assistance, active resistance and a preprogrammed mode. This project developed a working prototype of the rehabilitative robotic glove which actuates the fingers over a full range of motion across one degree-of-freedom, and is capable of generating a maximum 15N grip force.

MeSH terms

  • Electromyography*
  • Gloves, Protective*
  • Hand / physiology*
  • Humans
  • Rehabilitation*
  • Robotics*