Project Proposal for the eNTERFACE 2016 International Workshop
18 Jul – 12 Aug 2016, hosted by Human Media Interaction, University of Twente
February 2nd, 2016
Development of low-cost portable hand exoskeleton for
assistive and rehabilitation purposes
Academic Supervisors
Benedetto Allotta (MDM Lab, University of Florence), Kaspar Althoefer (CoRe, King’s College London),
Alessandro Ridolfi (MDM Lab, University of Florence)
Principal Investigators
Matteo Bianchi (MDM Lab, University of Florence), Francesco Fanelli (MDM Lab, University of Florence)
Team Candidates
Stefano Capitani, Arianna Cremoni, Lukas Lindenroth, Nicola Secciani, Ali Shafti, Agostino Stilli, Matteo
Venturi
Abstract
Basing on strict requirements of wearability, portability, cheapness and modularity, an assistive and
rehabilitative device for hand opening disabilities, characterized by an innovative kinematics, has been
developed and tested. This robotic orthosis is designed to be a low-cost and portable hand exoskeleton to
assist people with hand opening disabilities in their everyday lives. The exoskeleton can also be used such as
a rehabilitative device in order to restore the gestures of the hand after an injury or caused by a functional
impairment.
The device is mainly realized in Acrylonitrile Butadiene Styrene (ABS) structural components using a rapid
prototyping technique. The cable-driven actuation is provided by means of four independent servomotors
placed on the back of the hand.
Concerning the hand opening disabilities, a methodology, which properly defines the novel kinematic
mechanism that better fits the finger trajectories starting from the geometrical characteristics of the patient’s
hand, has been developed.
The testing phase of the real prototype with some patients is currently on going.
1. Project Objectives
The objectives of this project can be summarized, according to the Work Packages (WPs) described
hereinafter in the proposal, in the following way:


Improvement of reliability and usability of the device through a closed loop control using angular
feedback. Moreover, the usability of the exoskeleton will be improved by the development of an
intention sensing method based on the Electromyography (EMG).
Implementation of an automatic scaling algorithm in order to extend the mechanical solution of the
device to many people with different hand size.
More specifically, we aim at acquiring a deeper understanding of the models and theories meaningful to
achieve these goals.
With these objectives in mind, we will focus on the development of some prototype parts in order to improve
the following critical aspects of a biomedical device: portability, wearability, usability and modularity.
The portability requirement regards the development of lightweight and limited encumbrance mechanisms
and actuation systems.
The wearability requires an ergonomic structure and the realization of a comfortable device for the patient.
The usability ensures the patients to use it in a simple way.
The modularity requires a device adaptable to different users, who have of course different hand
characteristics and different disabilities. This aspect is very critical due to the variability of the human hand
(e.g. bone positions and tissue deformations) and complicates the design of the exoskeleton.
2. Background Information
Today, the first cause of adult disability in Europe is the Cerebral Vascular Accident (CVA). In particular, at
least 80% of post-stroke patients suffer hemiparesis of the upper arm. Moreover, the number of elderly with
a hand impairment as a result of the age is increasing. Post stroke survivors, genetic disease patients and
elderly with hand disease need, on one hand, timely and persistent rehabilitative training to regain previously
dexterity and, on the other hand, an aid in Activities of Daily Living (ADLs).
From the viewpoint of rehabilitation, it is crucial for the patient performing intensive and continuous
therapeutic tasks for a successful rehabilitation. Robotics systems allow to provide prolonged and higherintensity rehabilitation treatments, with a reduction of costs and burden for the therapists.
These devices are also able to evaluate the patients’ progresses by measuring physical parameters and to
replicate a given protocol always in the same conditions.
Unfortunately, sometimes, hand functions may not be totally replaced even after an intense rehabilitation
process. In these cases, the hand exoskeletons can be used in order to assist the user in ADLs. In particular,
this device can be used to assist the hand performance by amplifying the hand gripping force or automating
the motion.
According to the state of the art [1], the hand exoskeleton can be classified using various criteria (e.g. actuator
type, Degrees Of Freedom (DOFs), intention sensing and control method).
As regards the linking system between the hand and the exoskeleton, different approaches are described in
literature: multi-phalanx devices [2] [3], which are able to control directly each phalanx of the hand and
single-phalanx exoskeletons [4], which are linked to only one phalanx and are able to actuate only that part
of the hand. A multi-phalanx approach requires a more complex mechanism and control strategy [5] [6] [7]
and, in most cases, these devices are not very portable, so that they are used for rehabilitative purposes [8]
[9] and in haptics [10], where the portability requirement is not a constraint. Instead, a single-phalanx device
allows the use of simpler actuation systems and control algorithms.
On the topic of the mechanisms, many examples of multi-DOFs kinematic chains can be found [11] [12] [13],
while single-DOF mechanism are not many [14] [15]. Furthermore, current single-DOF devices, which are
currently studied, have a very simplified kinematics [16] [17] [18] [19], which is far from the physiological
hand kinematics and so, even though they are useful for assistance, their use is not suitable for rehabilitative
purposes. Soft-robotic applications, which are designed and developed in recent years, present a very
different type of mechanism based on elastomeric materials or fluid structures [20] [21] [22] [23].
Concerning the type of actuator, hand exoskeletons may be driven by electric actuators [24] [25] and
pneumatic actuators [26]. The latter ones lead to more weight and encumbrance for the actuation system.
For this reason, these devices are not so suitable for assistance due to their low portability.
Last but not least, for assistive hand exoskeletons, accurate sensing of the user’s intended motion is a primary
concern. For the purposes of controlling a device or ergonomic evaluation, there have been various methods
for detection of motion intention (e.g. motion sensing, breath switch, surface EMG, mechanomyography).
3. Detailed Technical Description
Technical Description
The aim of the project is to improve the usability and portability of a hand exoskeleton.
In order to achieve these results, the research activity will be organized in the following themes.
Closed-loop angular control
Using an encoder placed on the joint A of the Figure 4.1, the measure of the angle α2, which identifies the
single DOF of the mechanism, is possible.
Figure 4.1: Actuation system and 1-DOF mechanism of the hand exoskeleton
Through this angular information, a closed-loop control of the servomotors is realized by means of an Arduino
single-board microcontroller such as shown in Figure 4.2.
Figure 4.2: Closed-loop angular control of the servomotors
The angular information is useful to know the pose of the exoskeleton mechanism (important in
rehabilitation use) and the closed-loop angular control can be used to stop the actuator when an object has
been grasped (this skill is so important for the use of the device during the ADLs).
EMG based sensing of the user’s intended motion
An electromyographyc signal, after a suitable processing phase, is used to trigger the servomotors’ actuation
both in opening and closing of the device. So, through the EMG signal, the user can put to work the
exoskeleton without using the other hand.
Automatic scaling algorithm
Using the trajectories of some points of interest of the hand (acquired by the patient by means of a MoCap
System developed by BTS Bioengineering or artificially produced by a parametric hand model implemented
in Matlab), an optimization algorithm is implemented to adjust the characteristic of the exoskeleton to
reproduce the desired trajectories.
The entire procedure is shown in Figure 4.3.
Figure 4.3: Flow chart of the automatic scaling procedure
Thanks to this automatic scaling procedure, the mechanism results easily adaptable to different hand sizes
and suitable to track the movement of different hands by modifying automatically only a few geometrical
parameters.
This represents an important feature for a large-scale production device which has to be used in the patients
everyday lives.
Resources Needed
Our project is based on the availability of data (trajectories of the hand) which have been acquired before
the eNTERFACE’16 workshop, and the availability of some components, which are listed below:
 Encoder (e.g. SuperModified V3.0 for RC-servos with driver)
 Arduino Nano Boards
 Servomotor (Hitec HS-5495BH)
 Oscilloscope
 Solderer and soldering wires
 Breadboard
 Prototyping board
 Electrical wires
 DC Power supply
 LiPo batteries
 Electrodes for EMG
 PC104
 Load cells
 Tactile sensors
These components are already placed on the exoskeleton or linked to it, but there could be, during the
workshop, the need of substitute some of them.
For the same reason, we may need to use a 3D printer to print some some damaged exoskeleton’s
components (we use a Stratasys Dimension Elite).
Complementary equipment (e.g. cables for the transmission, jumper cables) will be brought by the project
investigators, if it is not available onsite.
We will also take some pre-recorded data to be used as an initial benchmark.
During the eNTERFACE’16 workshop, we are taking responsibility for installing all needed software.
Project Management
The project should be carried out up to 12 people team, plus the principal investigators, which will provide
insights by participating either to a part or to the entirety of the eNTERFACE workshop.
The principal investigators will coordinate the activities listed at the beginning of the section.
7 team members have been already identified, they are already acquiring the background necessary to carry
out the work and they will attend all 4 weeks.
Furthermore, they will work on the research lines as described in the following.
Stefano Capitani and Matteo Venturi: closed-loop angular control development.
Arianna Cremoni, Lukas Lindenroth and Ali Shafti: EMG acquisition and sensing of the user’s intended
motion development.
Nicola Secciani and Agostino Stilli: Scaling algorithm implementation and development.
4. Work Plan and Implementation Schedule
Figure 5.1: Gantt chart of the project
We suggest this set of work packages in which to divide the work for the project:
 WP0: Project coordination
 WP1: Closed-loop control development
 WP2: Electromyography (EMG) analysis
 WP3: Automatic scaling algorithm development
 WP4: Evaluation, testing and project finalization
Two reports are scheduled during the activity:
 Midterm report: this report will be written down after the first 2 weeks in order to describe the
performed steps and the achieved results.
 Final report: this report will be written down at the end of the activity describing the final project
results.
Details about work packages
WP0: the work package is divided in three sub-activity:
 forming sub-teams considering each member’s personal skills
 defining project system requirements
 sub-teams coordination for the whole period
WP1: in this phase of the activity, the team will work on the development of the closed-loop control (Fig.
4.2). At the beginning the work aim at implementing an algorithm for the communication between sensors
and servomotor. Then, these components will be placed on the device and tested together.
WP2: development of an extraction technique based on an EMG system. The work involve the following
phases: data acquisition (EMG signal), processing of the signal acquired, use of the EMG signal for triggering
the device.
WP3: during this phase, the procedure shown in Figure 4.3 will be implemented and tested.
WP4: during the last week of the workshop, the results of the WP1 and WP2 will be evaluated and tested
together. This phase aims at developing a cable-driven device triggered by an EMG signal and controlled by
means of a closed-loop angular control.
5. Benefits of the Research
During the 4-week-activity, the team will develop and test a low cost wearable and portable hand
exoskeleton to assist people with physical disabilities in their everyday lives.
In particular, the work aim at improving the reliability of the device and its adaptability and modularity.
These important goals will be achieve through the following steps.
 Development of a closed-loop control architecture implemented using an Arduino single-board
microcontroller.
 Development of an extraction system for an EMG signal acquired from the user of the device.
 Implementation of an automatic scaling algorithm implemented in Matlab environment and
development of a suitable procedure for adapting the characteristic of the exoskeleton 3D
SolidWorks model to the hand of the user.
6. Academic Supervisors
Prof. Benedetto Allotta serves as Head of the Department of Industrial
Engineering (DIEF) and coordinates the Robotics and Mechatronics activities
within the Mechatronics and Dynamic Modelling Laboratory (MDM Lab)
http://www.unifi.it/mdmlab , active in the field of railway engineering and
robotics. Since 2011 he started various research activities in the field of
underwater robotics. Before he spent some 20 years performing research in
robotics, mechatronics, and mainly railway engineering. The research group
coordinated by prof. Allotta includes nowadays about 20 people (including 2
permanent staff faculty members). The group can rely on facilities devoted to
robotics available at the MDM Lab premises in Pistoia. These facilities include
some water tanks, a pressure chamber rated 50 bar, and a MOOG parallel robot
for Hardware-In-the-Loop simulation and a COMAU SiX industrial robot. Prof.
Allotta's current research interests are: robotics (in particular marine and
underwater robotics), railway engineering, automation in transport systems,
Hardware In the Loop (HIL) simulation, control of robots, mechatronics, sensorbased navigation of vehicles. He is author of about 200 publications, including
more than 40 papers on international peer-reviewed journals, and 2 granted
international patents. Prof. Allotta is responsible of several competitive research
grants and contracts coming from public agencies as well as private companies
for a total amount of several hundreds thousand Euro/year.
Alessandro Ridolfi is a Ph.D. Researcher (Assistant Professor) of Machine Theory
and Robotics with the School of Engineering, Department of Industrial
Engineering, University of Florence, Italy. His current research interests include
vehicle dynamics, mechanical systems modelling, robotics, and underwater
robotics. He is also an Adjunct Professor of the Syracuse University in Florence,
teaching Dynamics.
Prof. Kaspar Althoefer is an electronics engineer, leading research on Robotics
and Intelligent Systems in the Centre for Robotics Research at King’s College
London. After graduating with a degree in Electronic Engineering from the
University of Technology Aachen, Germany, and obtaining a PhD in Robot motion
Planning from King’s College London, he joined the King’s Robotics Group in 1996
as a Lecturer; promotions to Senior Lecturer, Reader and Professor in 2006, 2009,
2011, respectively.
Extending his PhD research on intelligent learning methods for robot motion
planning employing neural networks and fuzzy logic techniques, his research
focuses now on robot autonomy, modelling of tool-environment interaction
dynamics, sensing and neuro-fuzzy-based sensor signal classification with
applications in robot-assisted minimally invasive surgery, miniaturization of
sensing systems for the remote examination of inaccessible spaces such as the
heart, intelligent vehicles and increased autonomy through embedded
intelligence.
Prof Althoefer has authored/co-authored more than 150 peer-reviewed papers
of which more than 40 are full, peer-reviewed journal papers. The majority of his
journal papers (over 60%) are in the top journals of the field, including top
transactions and journals of the IEEE and ASME and proceedings of the leading
national learned societies in the field, IMechE and IET. He has published his
research findings in more than 100 refereed conference papers in the proceedings
of leading conferences in his field (including more than 40 papers in the top
robotics conference proceedings, “International Conference on Robotics &
Automation” (ICRA) and “Intelligent Robotic Systems” (IROS). He is named
inventor on four patent applications.
The total research funding awarded to him is exceeding £4 Million, including £3
Million as Principal Investigator. On average, he was awarded £200 K per year as
Principal Investigator, since commencing his career as lecturer in the Division of
Engineering in November 1996.
Nine doctoral theses under his first supervision and six under his co-supervision
were successfully completed. He is currently the first supervisor of nine PhD
students and co-supervisor of a further two PhD students. He is currently
supervising a team of five post doctoral Research Assistants and Research Fellows.
Professor Althoefer is a Member of the IEEE.
7. Profile Team
Matteo Bianchi holds a Bachelor’s degree in Mechanical Engineering (since March
2013) and a Master’s degree in Biomedical Engineering (since October 2015) from
the University of Florence. He is currently a Ph.D. student of Robotics with School
of Engineering at the University of Florence, specializing in the design of robotic
wearable systems. His research interests include mechanical design, modelling
and development of wearable robots and exoskeletons for hand assistance.
Francesco Fanelli holds a Bachelor’s degree in Electronic Engineering (since
December 2011) and a Master’s degree in Control and Automation Engineering
(since April 2014) from the University of Florence. He is currently a Ph.D. Student
of Robotics with the School of Engineering, University of Florence. His current
research interests include underwater navigation and manipulation and control
theory.
Stefano Laszlo Capitani holds a Bachelor’s degree in Mechanical Engineering from
the University of Florence, School of Engineering (since October 2015). He is
currently a Master student of the course of mechanical robotics at the University
of Florence. His thesis dealt with the development of a hand 3D model and the
preliminary design of a hand exoskeleton system prototype.
Arianna Cremoni holds a Bachelor’s degree in Mechanical Engineering from the
University of Florence (since April 2014). She is currently a Master student at the
University of Florence and she is finishing her Master project at King’s College
(London) in the field of Soft Robotics, with particular focus on the realization of a
soft exoskeleton for the actuation of the thumb in impaired hands.
Lukas Lindenroth holds a Bachelor’s degree in Medical and Sportsmedical
Engineering from Koblenz University of Applied Sciences, Germany as well as a
Master’s degree in Robotics from King’s College London, UK. He is currently
conducting research towards a PhD in Robotics at the King’s Centre for Robotics
Research, specializing in the design and control of Medical Soft Robots for
endoscopic interventions. His prior research includes biomechanical simulation
for astronaut rehabilitation as well as robot-assisted surgery.
Nicola Secciani holds a Bachelor’s degree in Mechanical Engineering from the
University of Florence, and he is currently enrolled on the last year of the second
level degree in Control Engineering. He cooperates with the Dynamical Modeling
and Mechatronics (MDM) Lab of the University of Florence in the development of
the hand-exoskeleton prototype.
Ali Shafti received his B.Sc. in Electrical Engineering – Electronics and M.Sc. in
Electrical Engineering – Microelectronics from Shahid Beheshti University and
Amirkabir University of Technology (Tehran Polytechnic), Iran, in 2010 and 2013,
respectively. He was a member of the Integrated Circuits Design Laboratory at
Amirkabir University of Technology from 2010 to 2013 where he carried out
extensive research on low power pipelined ADCs as well as RFIC design. He joined
the Centre for Robotics Research (CoRe) at King’s College London in October 2013
where he is conducting his PhD research on wearable electronics and sensing for
medical robotics.
Agostino Stilli is a Ph.D. student at Centre for Robotics Research (CoRe) at King’s
College London. He received his BSc degree in Mechanical Engineering and his
MSc in Electrical and Automation Engineering from the University of Florence
(Italy). He spent six months at Southern Denmark University in Odense (Denmark)
during his master degree course as visiting student, joining the robotic research
centre. He joined the Centre for Robotics Research at King’s College London in
September 2013 focusing his research on continuum manipulators, soft robotics,
inflatable robotics and variable stiffness systems.
Matteo Venturi holds a Bachelor’s degree in Mechanical Engineering from the
University of Florence (since February 2016). He is currently attending courses for
Master Degree in Mechanical Engineering in the University of Florence. His thesis
dealt with the topology optimization of a flexion/extension mechanism for a hand
exoskeleton system.
Since our proposed team is made up for the most part by mechanical engineering students, we welcome new
members in our team with a background in electronics, automation and control engineering.
In particular, we are seeking participants with skills in the following areas of interest:
 wearable sensors
 signal processing
 control systems (closed-loop architectures)
 EMG analysis
8. References
Papers about the hand exoskeleton designed by the MDM Lab of the University of Florence:


Conti, R., Allotta, B., Meli, E., Ridolfi, A., “Development, design and validation of an assistive device
for hand disabilities based on an innovative mechanism”, ROBOTICA, Cambridge University Press,
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B. Allotta, R. Conti, L. Governi, E. Meli, A. Ridolfi, “Development and Testing of a low cost Wearable
and Portable Hand Exoskeleton based on a parallel mechanism”, in Proceedings of the ASME 2015
International Design Engineering Technical Conferences, IDETC 2015, August 2-5, 2015, Boston,
Massachusetts, USA
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