Closed-loop electromyography controller for augmented hand exoskeleton gripping

This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton finger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used as input to a microcomputer controller. Flexion and extension of the exoskeleton was accomplished by an electromechanical servo and wire system. The system was controlled by a custom-written control algorithm that included position and pressure feedback. The exoskeleton successfully flexes and extends on a test apparatus with less than 150 ms delay.