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Evaluation of the FLEXotendon glove‑III through a human subject case study

Biomedical Engineering Letters, 2023 · DOI: https://doi.org/10.1007/s13534-023-00262-2 · Published: January 27, 2023

Assistive Technology

Simple Explanation

Cervical spinal cord injury (SCI) can significantly impair hand functionality by disrupting nerve signals from the brain to the upper extremity. Robotic assistive hand exoskeletons offer a potential technology to improve patient rehabilitation, but few studies quantitatively assess exoskeleton performance using standardized hand function tests and questionnaires. This paper evaluates the FLEXotendon Glove-III, a voice-controlled soft robotic hand exoskeleton, through a case study involving individuals with SCI, using hand function tests and questionnaires.

Study Duration
Not specified
Participants
Two individuals with cervical SCI
Evidence Level
Case study

Key Findings

  • 1
    Participants were able to complete both the JTHFT and TRIHFT and in some cases, showed improvement with the exoskeleton compared to without the exoskeleton.
  • 2
    The addition of force sensors on the fingertips to detect excessive grasping forces adds another layer of safety for the user during device operation.
  • 3
    The smartphone app was rebuilt to encompass all aspects of the user interface (calibration and voice control), removing the need for a desktop computer and moving the FLEXotendon Glove-III towards a fully portable system.

Research Summary

This work presents the human subject case study evaluation of the FLEXotendon Glove-III, a 5 degree-of-freedom voice-controlled, tendon-driven soft robotic assistive hand exoskeleton for individuals with SCI. Minor design changes were made to the exoskeleton: integrated fingertip force sensors to sense excessive grasp force, a quick connect system to expedite the exoskeleton glove swapping process between users, compact tendon tension sensors to measure tendon force for admittance control, and a redesigned smartphone app to encompass all aspects of exoskeleton use. The participants completed two standardized hand function tests (JTHFT, TRIHFT) for quantifiable results on exoskeleton performance, as well as three device questionnaires (CUE-Q, OPUS, QUEST) for feedback on the device.

Practical Implications

Improved Safety

Integrated fingertip force sensors enhance user safety by detecting excessive grasping forces.

Increased Portability

Redesigned tendon tension sensors and smartphone app integration contribute to a more portable exoskeleton system.

Enhanced Usability

A quick connect system simplifies glove swapping, improving the efficiency and convenience of the exoskeleton.

Study Limitations

  • 1
    The HCR silicone creates a low-friction interface between the finger and the object.
  • 2
    The HCR silicone increases the distance between the fingertip and the object, sometimes pushing smaller objects out of a convenient pinching position.
  • 3
    Current implementation of tendon tension sensing does not account for friction and backlash, which may affect the accuracy of tension measurement.

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