HAND EXOSKELETON FOR REHABLITATION

Submitted in partial fulfillment of the requirements for the award of Bachelor of

Engineering Degree in Electronics and Communication Engineering

by

G.AJAY BABU (37130131)

M. THARUN KUMAR REDDY (37130226)

DEPARTMENT OF ELECTRONICS AND COMMUNICATIONENGINEERING

SCHOOL OF ELECTRICAL AND ELECTRONICS ENGINEERING

SATHYABAMA

INSTITUTE OF SCIENCE AND TECHNOLOGY (DEEMED TO BE UNIVERSITY)

Accredited with Grade “A” by NAAC
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI - 600 119
MARCH 2021

i
 SATHYABAMA

INSTITUTE OF SCIENCE AND TECHNOLOGY

(DEEMED TO BE UNIVERSITY)
Accredited with Grade “A” by NAAC
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI - 600 119
www.sathyabama.ac.in

DEPARTMENT OF ELECTRONICS ANDCOMMUNICATION

ENGINEERING

BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work of

M .THARUN KUMAR REDDY(37130226) and G.AJAYBABU(37130131)
who carried out the project entitled “HAND EXOSKELETON FOR
REHABLITATION” under our supervision from December 2020 to March 2021.

Internal Guide
Mrs. VIJAYASHREE. T, M.E.,(PhD)
Assistant Professor, Department of ECE

Head of the Department

Dr. T. RAVI, M.E., Ph.D.

Submitted for Viva voce examination held on

Internal Examiner External Examiner

ii
 DECLARATION

We, M. THARUN KUMAR REDDY (37130226) and G.AJAY BABU (37130131)

hereby declare that the Project Report entitled “HAND EXOSKELETON FOR
REHABLITATION” done by us under the guidance of Mrs. VIJAYASHREE. T,
M.E.,(PhD) is submitted in partial fulfillment of the requirements forthe award of
Bachelor of Engineering degree in Electronics and Communication Engineering.

1) M.Tharun Kumar Reddy

2) G.Ajay Babu

DATE: 14/04/2021 SIGNATURE OF THE CANDIDATES

PLACE: Chennai

iii
 ACKNOWLEDGEMENT

We are pleased to acknowledge our sincere thanks to Board of Management of

SATHYABAMA for their kind encouragement in doing this project and for

completing it successfully. We are grateful to them.

We convey our thanks to Dr. N. M. NANDHITHA, M.E., Ph.D. Dean, School of

Electrical and Electronics Engineering and Dr. T. RAVI, M.E., Ph.D. Head of

the Department, Department of Electronics and Communication Engineering

for providing us necessary support and details at the right time during the

progressive reviews.

We would like to express our sincere and deep sense of gratitude to our Project

Guide Mrs. VIJAYASHREE. T, M.E.,(PhD). Assistant Professor, Department of

Electronics and Communication Engineering for her valuable guidance,

suggestions and constant encouragement paved way for the successful completion

of the project work.

We wish to express our thanks to all teaching and Non-teaching staff members of

the Department of Electronics and Communication Engineering who were

helpful in many ways for the completion of the project.

We express our gratitude to our parents for their constant encouragement and

support for the completion of the project.

iv
 ABSTRACT

Hand injuries are a common problem. A large number of hand injuries are not only a
problem for victims, but also a financial consequence, as rehabilitation takes a long time.
Physical therapy after surgery is associated with high labor costs. The exoskeleton was
developed manually to improve treatment outcomes and reduce rehabilitation costs. The
portable exoskeleton is specifically designed to meet the requirements of medical
applications. To study control algorithms and rehabilitation programs, a prototype was
constructed that supports four-finger degrees of freedom. The device is easy to attach and
adapts to deformed or cracked hands. Given that many hand injuries occur with only one
finger, this prototype could already be used for physical therapy. This project introduces the
design and management system of the hand exoskeleton and its potential applications in
the treatment of hand injuries. This application suggests that stroke patients should wear
soft exoskeleton gloves on the paralyzed arm and check the response of the gloves with a
pneumatic air source. The soft flex actuator is controlled by the Arduino Mega 2560 because
the main control board and relay module are used to drive the 3/2-way single solenoid valve
by turning on the 24VDC power supply. The activation of the soft bending device can be
controlled by setting the on and off delay of the switch relay. In this way, the repetition of
bending movements can be tailored to the patient's rehabilitation needs. In the modern
scientific literature you can find a wide range of robotic devices capable of activating or
assisting human hand movements. Depending on the field of use, there may be irregular
elements in the exoskeleton of the hand. For example, a rehabilitation exoskeleton must be
capable of a wide range of movements so that it is manageable enough and flexible enough
to perform a variety of rehabilitation exercises. Conversely, the extra exoskeleton should be
strong enough to hold objects reliably, which can be present during everyday activities and
sacrifice mobility flexibility in favor of a predetermined grip pattern.

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 TABLE OF CONTENTS

Chapter TITLE Page No.

No.
ABSTRACT V
LIST OF FIGURES IX
LIST OF TABLES IX
1 INTRODUCTION 1-2
2 LITERATURE SURVEY
2.1 An Attention-Controlled Hand Exoskeleton for the 3
Rehabilitation of Finger Extension and Flexion Using a Rigid-
Soft Combined Mechanism
2.2 Low-Cost Soft Robotic Hand Exoskeleton for Use in
3
Therapy of Limited Hand–Motor Function
2.3 Connected Elbow Exoskeleton System for Rehabilitation
3
Training Based on Virtual Reality and Context-Aware
2.4 Design and development of a hand exoskeleton for
rehabilitation following stroke 4

2.5 Training of Hand Rehabilitation Using Low Cost

Exoskeleton and Vision-Based Game Interface 4
3 AIM AND SCOPE OF THE PRESENT INVESTIGATION
3.1 PROPOSED METHODOLOGY 5
3.2 SUBJECT DIFFERENCES 10
3.3 THEORIES OF REHABLITATION
10
3.4 APPLICATION OF HAND REHABLITATION ROBOTICS
11
3.5 EVALUATION OF TREATMENTS
11
3.6 HARDWARE SYSTEM
12
3.6.1 ROBOT TYPE
13
3.6.2 END-EFFECTOR
3.6.3 EXOSKELETON 13

vi
 3.6.4 ACTUATION 14
3.6.5 ELECTRICAL MOTOR 14
3.6.6 PNEUMATIC 14
3.6.7 HYDRAULIC
15
3.6.8 CONTRALATERAL EXTREMITY
15
3.6.9 TRANSMISSION
15
3.6.10 SENSOR
16
3.6.11 PHYSICAL SIGNAL
16
3.7 RESISTIVE
3.7.1 ACTIVE 17

3.7.2 ASSISTIVE 17
3.7.3 ACTIVE-ASSISTIVE 18
3.8 PATTERNS OF MOVEMENT 18
3.9 HUMAN-ROBOT INTERACTION 18
3.10 DETECTABLE INTENTION 19
3.10.1 FROM BRAIN 19
3.10.2 FROM MUSCLE
20
3.10.3 FORCE AND MOTION ON HAND
21
3.11 USER FEEDBACK
21
3.11.1 FEEDBACK OF REAL-TIME STATE
21
3.11.2 FEEDBACK OF MOTOR PERFORMANCE
22
3.12 GENERAL LIMITATION

4 MATERIALS AND METHODS USED

4.1 COMPONENTS 24
4.1.1 ARDUINO UNO 24
4.1.2 16*2 LCD MODULE
33
4.1.3 BLUTOOTH
36
4.1.4 PUSH BUTTON SWITCH
37
4.1.5 SERVO MOTOR
37

vii
 4.2 SOFTWARE MODULE DESCRIPTION 40

5 RESULTS AND DISCUSSIONS 43

5.1 JOINT RANGE OF MOTION 44
5.2 IDEAL VIEW 45

6 CONCLUSION AND FUTURE WORKS 47

REFERENCES 48

viii
 LIST OF FIGURES
FIGURE NO. TITLE PAGE NO.
3.1 AN OVERVIEW OF THE HAND 9
REHABLITATION ROBOTICS
3.2 ROBOTS WITH DIFFERENT 12
TRANSMISSIONS
4.1.1a ARDUINO PINOUT GUIDE 25
4.1.1b ARDUINO UNO 26
4.1.1c TECHNICAL SPECIFICATIONS 28
4.1.1d ARDUINO CONNECTIONS ON CIRCUIT 29
BOARD
4.1.2a 2D MODEL OF 16*2 LCD 34
4.1.2b LCD VIEW 34
4.1.2c LCD PIN DESCRIPTION 36
4.1.3 BLUTOOTH(HC-05)MODULE 37
4.1.5 SERVO MOTOR 39
4.2a ARDUINO IDE INSTALLATION 40
4.2b APPLICATION 41
4.2c CREATING A FILE 41
4.2d CODE STATUS BY COMPILING 42
5.2.1 DEMONSTRATION 45
5.2.2 THUMB OPEN 46
5.2.3 THUMB CLOSE 46
5.2.4 INDEX FINGER CLOSE 46
5.2.5 INDEX FINGER OPEN 46

LIST OF TABLES

TABLE NO. TITLE PAGE NO.

5.1.1 Maximum angle to create the best prints 44

without self exclusion.
5.1.2 Maximum angle for connecting INDEX to 44
EXOSKELTON and without EXOSKELTON

ix
 CHAPTER-1
INTRODUCTION

In the modern scientific literature you can find a wide range of robotic devices capable
of activating or assisting human hand movements. Depending on the field of use, there
may be irregular elements in the exoskeleton of the hand. For example, a rehabilitation
exoskeleton must be flexible enough to allow a large number of movements to perform
various rehabilitation exercises. Conversely, the extra exoskeleton should be strong
enough to hold objects reliably, which can be present during everyday activities and
sacrifice mobility flexibility in favor of a predetermined grip pattern. These varying
requirements result in different power transfer architectures.

Some devices use couplings to transmit power from an actuator to a human joint. It is a
sturdy architecture that provides good control over the arm posture, although the
kinematic communication center and the person's joints must be accurately aligned.
Due to the design flexibility, these mechanisms can achieve complex movement
patterns with simple actuators when properly dimensioned.

Another high-end architecture is the cable glove. These are more flexible and
streamlined options that rely on human joints to control movement, so they use less
awkward gestures. Conversely, a pulley is required to exert a high force, and it is more
difficult to control in an intermediate position. Additionally, this type of exoskeleton
requires a pair of cables in opposing configurations to facilitate extension and flexible
movement.

Finally, some devices use deformable actuators such as pneumatic muscles or shape
memory alloys connected directly to the hand with a glove. The result is a very light and
simple device, but the device is not the most advantageous place to put great effort into
it.

1
For loop-based exoskeletons, especially those based on electric actuators, measuring
the interaction force between the user and the device can lead to interesting features
that facilitate control tasks and improve security. Some devices use a variety of sensor
technologies such as torque sensors, strain gauges, bending sensors, and small load
cells. These sensors can be effective in their respective applications, but when
integrated into the exoskeleton, they have several drawbacks. In particular, the torque
converter measures the load on the motor shaft, so it may not be possible to measure
all interaction forces in an overloaded application. Load cells are difficult to place in the
correct position and short cells may not function properly, so a shape similar to the size
of a human phalange is required. Other miniature sensors, such as voltage sensors or
power sensitive resistors, can usually measure force in only one sense (compression or
tension), and sensors that can measure both directions are too large for a human hand.

2
 CHAPTER 2
LITERATURE SURVEY

In recent years, rehabilitation techniques have played an important role in improving

hand and finger function after stroke. Robotic applications and mechatronic devices are
rapidly expanding in industrial environments to help people recover and improve their
functions. Rehabilitation engineering has improved the quality of life for people with
disabilities by providing special education that works better than traditional methods.

2.1 An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger

Extension and Flexion Using a Rigid-Soft Combined Mechanism

Manual recovery should be improved by improving key features such as simplicity,

miniaturization, two-way operation, low cost, portability, safe human-robot interaction
and intuitive features. This article presents a brain-controlled exoskeleton based on a
multi-segment steel segment mechanism. Functional rehabilitation training is performed
using a threshold of attention measured by an EEG sensor with a switch in the
exoskeleton controlled by the brain.

2.2 Low-Cost Soft Robotic Hand Exoskeleton for Use in Therapy of Limited Hand–
Motor Function

We present the design and validation of an inexpensive and customizable 3D soft

anthropomorphic robotic arm exoskeleton for the rehabilitation of arm injuries using a
remote controlled physical therapy procedure. This design is based on previous work
done in a mammary exoskeleton design that uses the same kinematic functions, but
emphasizes ease of assembly and cost effectiveness, allowing patients and clinics to
produce and assemble what they need for treatment.

2.3 Connected Elbow Exoskeleton System for Rehabilitation Training Based on

Virtual Reality and Context-Aware

Traditional rehabilitation systems for physical therapy are being developed as advanced

3
systems based on exoskeleton systems and VR environments that enhance and
enhance rehabilitation and training approaches. Current connected systems and
paradigms such as Internet of Things (IoT) or Peripheral Intelligent Systems (AmI)
systems can also design and develop advanced, efficient and affordable medical
devices accessible to patients. House. This article presents an inexpensive elbow
exoskeleton associated with a context-sensitive architecture, and thanks to a virtual
reality system, patients can interactively perform rehabilitation exercises.

2.4 Design and development of a hand exoskeleton for rehabilitation following

stroke

The device was developed to restore motor function of the hand after stroke treatment,
and can be used by stroke survivors to train bilateral movements. Of the 21 degrees of
freedom of the fingers, the passive exoskeleton prototype allowed 15 degrees of
freedom. This device is designed to be portable so that users can engage in other
activities while using the device. The prototype was built with a device that fully agile
extends the finger to the left hand (injured hand) based on the movement of the right
hand (healthy hand) fingers. We also tested the device with healthy testers to make
sure the design met the requirements.

2.5 Training of Hand Rehabilitation Using Low Cost Exoskeleton and Vision-
Based Game Interface

In recent years, serious games have become a very useful tool in the field of
rehabilitation. It aims to stimulate body mobility through an immersive experience that
places users in an interactive virtual environment. This article focuses on the
development of personal augmented reality systems for stroke rehabilitation. This is
done by integrating a serious interactive game interface with a portable exoskeleton
device. The in-game rehabilitation system allows users to perform physical therapy
rehabilitation treatment with a natural user interface based on Kinect skeletal tracking
and electromyography (EMG) sensors.

4
 CHAPTER 3

AIM AND SCOPE OF THE PRESENT INVESTIGATION

Hand injuries are a common problem. A large number of hand injuries are not only a
problem for victims, but also a financial consequence, as rehabilitation takes a long
time. The design presented in this project uses an excellent design based on the natural
movements and limitations of the joints placed by the patient's skeleton. This method of
ejaculation is not suitable for injuries or diseases that have destroyed the skeletal
structure of the finger. Our design cannot control the rotation of the thumb-metacarpal
joint. This is usually done on other rigid bracket structures that are not suitable for soft
robot structures like ours. Our design keeps the carp wrist in its natural range of motion
for these tasks so it can capture movement. Eliminating mechanical and structural
connections greatly simplifies the design and assembly of mechanical parts.

3.1 PROPOSED METHODOLOGY

The proposed system falls into this category, another key factor is how it learns the
system, which can be complementary, passive, functional or functionally
complementary. The operating system is not triggered, but it can be measured. The
patient is constrained by the appropriate range of motion. Passive systems interact and
use actuators that use force to facilitate movement to help your arm or wrist achieve the
correct range of motion. An active support system is a hybrid system that includes mods
that can be used in a similar way to an operating unit. Main components used: Arduino
Mega 2560, 5 channel 5V relay module, buttons and resistors. Here is the top controller
for rubber actuators. The process of connecting the rubber circuit and actuator to the
24V DC power supply, compressor kit, air filter with controls is in progress. The most
important design goal of making these devices is to minimize the technical impediments
that arise when using the system. The purpose is to simulate the way physical
therapists interact with patients during rehabilitation as closely as possible. Additionally,
the system should provide greater continuity and smoother transitions between
interacting with the physical therapist and using the device. Device aesthetics and

5
consumer comfort (physical and psychological) are important. Patients need to feel
comfortable in order to continue using the device.

In medical robotics, robot design must adapt to the challenges of the living world. In that
sense, some fields of science, such as bionics and biomechanics, have become an
interest that has grown dramatically over the past 20 years thanks to significant
innovations. Applications in which biomechanical or bionic devices complement the
human body are diverse and can be divided into two main fields: internal and external.
The study of this project will focus on the outside. The external extension of the human
body can be divided into two main branches: prosthetics and braces. The main focus of
this project is on orthosis and robotic technology used in robotic recovery devices for
passive motor recovery therapy. Statistical studies have been developed based on
several technical terms that exist in the scientific literature in this field to show progress
in this field of research. Statistics relate to work from 1994 to 2017. Research data was
collected from the Science Direct online database. It contains an extensive database of
research in science, medicine, economics and many more. This database contains over
12 million articles from over 3,500 academic journals. In this study, the terms
rehabilitation, robotic rehabilitation, stroke rehabilitation, orthosis, biomechanics,
bionics, robotic orthosis, exoskeleton, robotic exoskeleton, manual exoskeleton, soft
robot and soft drive were chosen. The data collected are shown in Table 1, which
shows the number of published scientific papers in relation to the terms analyzed. From
the diagram in Figure 1, you can see that biomechanics, soft robots, and soft actuators
are some of the most widely used keywords in scientific articles over the past 20 years.
Given the key work involved in biomechanics, soft robots, and soft actuators, the
narrower keyword statistics such as the following are not directly compared to these
terms.

A stroke due to brain cell death that occurs as a result of blockage of blood vessels
supplying the brain (ischemic stroke) or bleeding in or around the brain (hemorrhagic
stroke) is a serious medical emergency. Stroke can cause death or serious damage to
the nervous system and contribute significantly to long-term disability. The World Health
Organization (WHO) estimates that around 15 million people worldwide suffer from

6
stroke each year. Despite advances in health technology, stroke rates are expected to
increase over the next decades. Treatment and rehabilitation costs are enormous and
reach $34 billion per year in the United States. More than half of stroke survivors have
some degree of persistent hemiplegia or hemiplegia due to nerve tissue damage. These
patients are unable to perform daily activities on their own, so they must rely on human
assistance to perform basic daily activities (ADL) such as feeding, self-care, and
mobility.

The human hand is very complex and diverse. Studies have shown that the link
between the function of the peripheral limb (i.e., the arm) and the ability to perform ADL
is stronger than that of the other limbs. Hand dysfunction can seriously affect the
patient's quality of life and more effort is required to restore hand movement. However,
while most patients experience satisfactorily recovery of proximal upper extremity
motility, related studies indicate that recovery of the distal limb is limited due to its weak
efficacy. There are two main causes of difficulty with arm recovery. First, the arm's
degree of freedom of movement (DOF) becomes more flexible than 20 degrees, making
it difficult for therapists or educational devices to meet boredom and mobility needs.
Second, the functional part of the cerebral cortex that corresponds to the arm is much
larger than that of other motor cortex, giving it considerable flexibility to create different
arm positions and control individual arm joints. However, to date, most studies have
focused on the lack of individualization of opposing finger movements. There is a
desperate need for better recovery treatment.

Robotic therapy for stroke rehabilitation is a new form of physical therapy in which
patients train a paralyzed leg by using or resisting the force provided by the robot. For
example, the MIT-Manus robot uses a mass-learning method to practice movement
movements for upper limb training. The MIME (Mirror Image Motion Enablement) tool
uses a two-sided learning approach to train a paralyzed limb to reduce abnormal
synergies. Robotics has evolved significantly over the past 30 years thanks to advances
in robotics such as exoskeletons and biotechnology that have become important
additions to traditional physical therapy. For example, hand exoskeletons were
compared to therapists who emptied patient training with physical labor, Wege et al.

7
You can touch the patient's fingers skillfully and repeatedly. In addition, some robots
can also be controlled according to the patient's own intention, which is caused by vital
signs such as electromyography (EMG) and electroencephalography (EEG) signals.
This makes it possible to build a closed robotic rehabilitation system that cannot be
achieved with conventional rehabilitation treatment.

Current reviews of robotic hand rehabilitation for motor recovery after stroke are
inadequate, as most of the research focuses on the use of robotic therapy on limbs
other than the arm. Additionally, the current review focuses on designing robotic
equipment or using a specific educational paradigm, both of which are indispensable for
an effective waving robot. The hardware system supports the functioning of the robot,
while the training paradigm serves as a real functional part of engine recovery, which
determines the effectiveness of rehabilitation training. These two parts are closely
connected.

This project focuses on the application of robotic therapy to hand rehabilitation and
requires a comprehensive understanding to develop an effective robotic recovery
system, so it provides an overview of robotics for hand rehabilitation, from hardware
systems to educational patterns for ongoing projects. . ... The second part gives an
overview of the robots in the entire recovery robot system. The third section
summarizes and classifies hardware systems and learning parameters according to
several important aspects from the author's point of view. Finally, we discuss the state
of modern robots for hand rehabilitation and look forward to the possible future direction
of robots for hand rehabilitation.

Post-robotic stroke treatment for upper limbs dates back to the 1990s. In recent
decades, advances in robotics have made great strides and have become an important
addition to traditional physical therapy. Hand robots were initially developed for
demanding tasks and became the best place for therapists. This first robot focuses on
structural design, actuators, control technology, etc., making the robotic arm more
suitable for leg and joint movement functions and more effectively meeting rehabilitation
needs.

8
Today, robotics for hand rehabilitation has undergone significant advances due to the
rapid development of neurobiology and clinical knowledge, which means that designing
robotics for hand rehabilitation for stroke rehabilitation has led to interdisciplinary
knowledge such as anatomy, neurobiology, cognitive science and learning. Makes it
even more difficult for you. . Also comprehensive information. Clinic experience. In order
to develop an effective robot for hand rehabilitation, knowledge, rehabilitation theory
and evaluation of the differences between stroke patients as well as the robot itself is
required. The following is a summary of the basics of hand rehabilitation robots in
rehabilitation to give researchers an overview of hand rehabilitation robots. The
contents are displayed in figure.

Figure 3.1: An overview of the hand rehabilitation robotics.

9
3.2 Subject Differences
Movement disorders in stroke patients vary from person to person and depend on their
condition and improvement. For individual treatment, factors such as the type of muscle
condition (e.g. asymptomatic or hypermyopathy), stroke episode (chronic, acute or
subacute) and stroke rate (mild to severe) should be considered. For example, Atonic
patients cannot use assistive robots that require remaining motor skills or too many
strength training kits that can cause abnormal movement patterns. The advantage of
using robotics for hand rehabilitation is that robotics can be used to quantify and track
the motor behavior or vital signs of an individual patient. Thus, rehabilitation robots can
be a sophisticated method that can be used today to accurately manage treatment
interactions and measure accurate outcomes. Failure to account for differences
between subjects can significantly reduce the effectiveness of robotic therapy.
3.3 Theories for Rehabilitation
While current theories of motor recovery are rare, some of the current rehabilitation
theories are still beneficial and important for the use of robotic therapy. The three most
important references are Neurophysiology, Neurodevelopment and Motor Learning
Theory. Neurophysiological mechanisms such as plasticity and compensatory function
are the theoretical basis for motor recovery after stroke. Derived primarily from clinical
experience, the Nervous System (NDT) or Bobath concept focuses on improving
hemiplegic lateral recovery by normalizing muscle tone and motor patterns, and inspires
learning strategies such as continuous passive exercise and inhibition therapy. ...
learning theories like Hebby learning or motor retraining, which have given guidance on
many strategies, including directed learning, active learning with all kinds of feedback,
are the current trend in robotics for hand rehabilitation. While there is no conclusive
evidence to support this strategy, many applications involving robotic arms have
actually been used in rehabilitation and have had good results. Further research into the
better application of these search theories will affect future RHH designs.

10
3.4 Application of Hand Rehabilitation Robotics
The use of robotics for manual rehabilitation is to achieve effective rehabilitation through
a series of design decisions for hardware systems and educational paradigms. For
projects focused on hardware systems, it addresses issues such as machine security
and device portability or flexibility issues. For example, Wege et al. To solve the joint
coordination problem, it adopts transverse joint structure, and the fingers can be flexibly
adjusted with 4 degrees of freedom. In et al. Design a safe, lightweight and non-
explosive exoskeleton. In projects focused on this paradigm, they address the
interactions between humans and robots, promoting retraining in motor skills. For
example, Ueki et al. And Sarakoglou et al. Development of a system that provides real-
time feedback in virtual reality (VR) scenes to enhance the motion experience during
training; Sarakoglou et al., Hu et al. And Ramos et al. The patient's own intensity signal,
EMG signal, and rehabilitation robot driven by EEG signal are manually examined to
stimulate patient participation in movement. For robotic arm systems, hardware systems
and training patterns are important and interdependent.
3.5 Evaluation of Treatments
The evaluation of rehabilitation robotics reflects the effectiveness of human function
restoration that requires a complete design. Methods for evaluating robots in the current
study include movement during movement (ROM) of joints, speed of movement, force
exerted on the arm, and performing functional tasks. A set of classical clinical measures
are also used to measure patient recovery and evaluate patterns. The most common
scales are the Manual Trial Assessment Test (ARAT), Bud Meier Assessment (FMA),
and Motor Activity Log (MAL). Due to the specific clinical application, a focus should be
placed on evaluating rehabilitation robots that are different from conventional robots.
For pre-clinical use confirmation, treatment must follow the principles of Evidence-
Based Medicine (EBM), which shows that many ongoing studies are being collected to
demonstrate its usefulness. For example, the unexpected results of independent studies
show that modern robots are useful for hand rehabilitation, while studies based on the
EBM principle show little benefit. This is limited to supporting evidence in current
research in robotics for hand rehabilitation due to its small sample size and poor

11
experimental quality. This shows why robotic validation, especially the development of a
more standardized RCT (Randomized Control Trial) with large sample sizes and high
quality, is necessary for rehabilitation robotics.
3.6 Hardware System
The hardware system is the heart of the manual recovery robot. It describes the types of
movement the robot can provide to the patient and the possible signals the robot can
receive from the patient. Equipment systems can be subdivided according to
mechanical classification. However, the classification here is done as a smarter
classification to highlight many of the most important aspects of robotic design for hand
rehabilitation. The hardware system is divided into aspects including robot type,
actuator, transmission type and sensor. Other aspects, such as strength, were not
mentioned as they are not an important part of the robot for hand rehabilitation, and the
researchers have already discussed the details.
3.6.1 Robot Type
Conventional manual rehabilitation robots can be divided into two main types: final
effectors and exoskeletons, depending on the unit and location of use. The final effect is
outside the patient's body, and the exoskeleton is carried by humans.

Figure 3.2 ROBOTS WITH DIFFERENT TRANSMISSIONS

12
3.6.2 End Effector
The end effector is outside the patient's body and provides the required force at the
ends of the user's limbs to aid or resist movement. For example, the AMADEO robotic
system developed in Austria (Figures 3 and 1) is already a commercial product. When a
finger is attached, it supports the finger and thumb, and can be moved and extended
along the slider. HandCARE (Figures 3 and 2) is another final effect developed by
Dovat et al., where each finger is connected to a loop of the appliance cable, primarily
enabling power control and linear displacement. The end effect is that it provides force
regardless of the individual joint movements of the patient's limb, causing problems
such as a limited range of movement and closure. Also, since the end effector is outside
the human body, it cannot be carried, and its practical use in the clinic is limited.
3.6.3 Exoskeleton
Unlike the final effect, the exoskeleton can be worn on the patient's body. Robot joints
and connections directly correspond to someone's joints and limbs. For example, Ho et
al. Development of a portable robot for the rehabilitation of hands with a 2 degree of
freedom of fingers (Fig. 3, b-1); Chiri et al. HANDEXOS is small in size and light in
weight (Fig. 3, b-2). The portability of the exoskeleton is a good option for stroke
rehabilitation, especially for patients with late stroke stages who can exercise at home.
There are the same problems as robotic shafts that must be applied to the anatomical
shaft of the arm, but exotic robots are widely used in rehabilitation robotics and have
made a lot of progress over the years. There is a story about functional degrees of
freedom (fDOF), which provides a way to simplify complex movements with multiple
degrees of freedom using less complex shooting strategies, and the development of
soft-body robots promotes the use of exoskeleton robots. In et al. Very lightweight
undeveloped, unplanned robot. Robotic exoskeletons have now become the trend of
passive recovery robots for stroke rehabilitation.

13
3.6.4 Actuation
The trigger function is to convert various types of energy into a power robot. There are 5
types of activation mentioned here: selective motor, hydraulic, pneumatic, pneumatic
and human muscle. There are still other types of actuators, such as piezoelectric and
shape memory alloys that promise to be thin and light, but they are not mentioned here
due to technical dilemma or theoretical design in practical applications.
3.6.5 Electrical Motor
Electric motors are the most widely used devices in arm recovery robots because they
are accessible, reliable, easy to use and very accurate. For example, HANDEXOS is
described in Chiri A et al. It is driven by the power delivered from the DC motor to the
Bowden cable. Robotic arm training device with exoskeleton developed by Ho et al. It is
driven by a linear micro motor. Due to the common function of the torque velocity space,
electric motors are useful in applications such as hand restoration robots that require a
variety of control strategies. One of the potential drawbacks of electric motors is that
safety concerns can arise due to the rugged construction of electric motors. However,
electric motors can be controlled by torque, allowing actuators to access robot
information without additional sensors.
3.6.6 Pneumatic
Pneumatic drives are used much less than electric motors in manual recycling robots
such as ASSIST developed by Sasaki et al. This device has the advantage of reduced
maintenance and the ability to remain loaded without causing damage. Problems such
as noise can be overcome with the help of a pre-compressed air accumulator, but the
size problem cannot be solved because an air storage room is required. Therefore,
pneumatic actuators can be used better for systems with less mobility.
The development of artificial pneumatic muscles makes activation another option. Air
muscles made of enlarged or enlarged inner rubber tubes may be present. An example
is a commercial robotic hand holding system manufactured by Kinetic Muscles Inc.
(USA), powered by air muscle power unit. There is another type of pneumatic muscle,
the curved pneumatic muscle. For example, pneumatic rubber muscles are described in
Noritsugu et al. The downside of pneumatic operation is that it is difficult to control the
actuator due to its change over time and its nonlinearity.
14
3.6.7 Hydraulic

Hydraulic actuators have very good properties. It can generate higher torque than
electric or pneumatic systems, for example, and can be controlled with high precision
and frequency. However, hydraulic actuators are rarely used in handheld robots
because more space is required to accommodate the pipelines and pipelines.

3.6.8 Contralateral Extremity

The opposite bone can also be considered a trigger. Member-oriented two-way recall
robots are commonly used in robotic systems that use two-way learning strategies. The
robot for the injured arm can be driven directly by the force of the healthy arm or
indirectly by controlling the healthy arm signal at the same time. So far, only the latter
has been studied. For example, Rahman et al. According to the data of gloves worn on
healthy hands, we have developed a two-sided therapeutic hand device in which the
exoskeleton performs unstable movements.
The human muscles of the injured arm can be activated by functional electrical
stimulation (FES) to complete the movement of the injured arm in the same way a robot
is triggered. Also, some applications combine with robot drives for rehabilitation. Thus,
human muscles can be classified in the broadest sense as a form of activation. Rong et
al. We proposed the FES robot arm and robot hand robot, which achieved better arm
function restoration through FES and robot balance. Researchers often limit
spontaneous motor skills by stimulating FES with processed EMG or EEG signals
generated by the patient's spontaneous motor skills.
Other syntaxes involved in active training methods may not provide triggers, but are
controlled entirely by the patient's hand. This means a high demand for the rest of the
patient's motor skills. Another compromise is to use springs as activation. Here, the
spring provides the force to compensate for the muscle tone effect.
3.6.9 Transmission

The function of transmission is to transform the motion of actuator into a desired

direction to complete the execution of a hand's motion. Most of these are a
consequence of the choices of actuator or the mechanism.

15
3.6.10 Sensor
The robotic arm retrieval system has only some effects according to the CMP
(Continuous Passive Motion) concept, but the patient's participation in the rehabilitation
system appears to be more effective. Therefore, sensors are very important in robotic
hand recovery systems. Sensors detect personal information and provide feedback or
control signals to a person or robot. Here, sensors are classified according to the type of
signal detected.
3.6.11 Physical Signal
Sensors that detect physical signals such as strength and position (or movement) are
the most commonly used sensors in robotic recovery systems. The function of a force or
position signal is to provide the physical state of the hand, such as the applied force or
the angle of agility of the finger. For example, the sensor force feedback exoskeleton
(SAFE) robot was developed by Ben-Zvi et al. When optical position sensors and strain
gauges are installed to detect motion and force signals.
Bioelectrical Signal
Other types of sensors that detect bioelectrical signals such as EEG or EMG signals are
also frequently used in robotic systems for manual rehabilitation. The function of the
bioelectric signal reflects someone's intention to move, and can be used as a control
signal for the robot. EEG and EMG signals are the most representative signals received
from the brain or muscle, and other possible but uncomfortable signals, such as
magnetic resonance imaging (MRI) signals, are not listed here [90]. Examples include
robots developed by SAFE and Hu et al. that use EEG caps to detect EEG signals in
the brain. It uses multiple EMG electrodes located on the extensor finger muscle and
abductor thumb muscle.
3.7 Resistive
In resistance training mode, the patient completes the exercise under the influence of
the resistance force exerted by the robot. Since this type of training is mainly focused on
strength training, robots usually use impedance control circuits. Lambercy et al.
Development of a tactile pen for hand rehabilitation. The robotic system consists of two
control methods. In the open position the robot is controlled by a PID position controller

16
and in the closed mode the robot provides a constant force and a resistive force
consisting of damping components. The strength of the resistance was adjusted to the
level of the experimental point of view, and the hand function was improved
considerably evenly. Research on arm resistance training is relatively rare and mostly
focuses on other parts of the arm, such as the shoulder, elbow, or wrist. The limitation
of the resistive learning method is that it requires the remaining motor skills to be strong
enough to overcome the resilience of the robot. Therefore, it is best used for patients in
the late stages of stroke.
3.7.1 Active
In active learning mode, the patient moves independently while using the robotic
function as a measuring device for patient feedback. In this teaching methodology,
movement is completely human-controlled and does not require a management plan.
Adamovich et al. A rehabilitation system where patients use CyberGloves and
CyberGrasp devices for location and strength information. As the patient performs the
movement on his own, the information is collected manually in real time and comes with
a virtual scene and intensity of feedback. There isn't much research on pure active
handshake training in practice because most of these robots can be replaced by
intelligence gloves. In addition, leadership training requires the patient to have sufficient
capacity to move independently.
3.7.2 Assistive
In supported learning modes, the patient uses a robot to perform arbitrary arm
movements. The robot pushes continuously as the arm moves. This type of training can
be as simple as the HandSOME developed by Brokaw et al. In this training, auxiliary
forces are created by springs to compensate for muscle tension. Support training
generally uses path training. For example, a manual recovery system developed by
Wege et al. Adopting standard PID control and slide control model. The PID controller
gives satisfactory position control results, while the sliding control model is more reliable
and the track was tracked with good accuracy. However, the auxiliary training method
requires the patient to have the remaining motor skills.

17
3.7.3 Active-Assistive
In active assisted learning mode (also known as passive active), the patient performs
robot-assisted movements, but here the robot does not exert force on the arm until the
patient can move independently. Active assisted training is most widely used in robotic
rehabilitation systems. Executive assistant training can also use a simple management
plan, such as in the case of AMADEO, where auxiliary power is applied only when the
patient is unable to complete the full motion. Patients with impaired motor function may
find this care plan less useful. Although increasingly actively supported learning
methods are using biosignals as line inputs, the most recent research is based on
binary (two-site) control schemes that limit the use of biosignal inputs. While flexible
muscle and control models require more applications for passive rehabilitation, they are
a new trend in control circuits that benefit from active training methods. Assistive
training methods require the remaining motor skills, or at least allow the patient to
generate appropriate motor intent.
3.8 Patterns of Movement
According to the collected articles, the modern maneuvering design of a manual
recovery robot can be divided into two models. The first template focuses on range of
motion, strength, and stiffness, and the second one specifically focuses on performing
functional tasks in ADL. It follows the structure of the International Classification of
Action, Disability and Health (ICF) (Figure 5), in which human function is described at
three levels. Functional level (body structure and function), activity level (task
completion) and level of participation (participation in life situations) [109, 110]. While
initial results of meta-analysis of robotic clinical trials demonstrated the effectiveness of
robotics in improving functional levels, the level of ICF activity did not improve. This may
be due to a lack of people's understanding of the relationship between functional and
activity levels, but now the focus of rehabilitation for hand impairment is slowly shifting
from the functional ICF level to the activity and participation level.
3.9 Human-Robot Interaction

The difference between different learning paradigms is largely determined by different

human-robot interactions, also called learning strategies for different projects. Human-

18
robot interaction is essential for motor recovery. This is because the key to robotic
recovery systems is human beings who are often not properly reported. This differs from
traditional industrial or field robots that perform movements automatically or in a specific
human sequence because humans are the control unit and part of the robotic recovery
system. The three main components of human-robot interaction are brain guidance,
intention, and feedback. Induction makes the motor move. Robots present the right
intent and provide better or transformative feedback to the patient. These components
form a closed nerve pathway for the engine.

3.10 Detectable Intention

As a common method for healthy subjects, an electrical signal can be used to transmit
the motion intent to the muscle to trigger arm movement directly, and the receiver's
intent is detected by the robot and then by the robot. Activate hand movement. Intent
can be determined in the brain, muscles and contralateral paralyzed, healthy arms.
3.10.1 From Brain

EEG signals are represented as brain signals containing detectable motor intent. The
EEG signal is the most convenient signal in the BCI (Brain-Computer Interface) system.
BCI technology has been advancing over decades and has found many effective
applications in robotic arm rehabilitation. The use of the BCI technique is primarily
based on the fact that motor imagination (MI) contributes to limb recovery. The
effectiveness of myocardial infarction during rehabilitation has been proven in good
time. Studies have shown that MI provides paralyzed limb sensation through MI
because MI activates the motor cortex of the brain, even if the patient has not
performed proper movements. Combined with BCI technology, we can directly control
restorative robotics by extracting and propagating brain signals induced by a patient's
spontaneous myocardial infarction. As MI is involved in brain and arm movement,
rehabilitation robots activate artificial pathways that replace normal highways in
individuals and have a great future.

19
Biebaumer was the first to show that stroke patients can trigger MI-related ERD/ERS in
a healthy way. Unexpectedly, the researchers found that muscle tension in stroke
patients decreased after participating in the experiment. On this basis, various research
groups conducted further research. Ang et al. Many experiments have confirmed that
stroke patients have a great potential to induce MI-BCI, making MI-BCI possible.
Barsotti et al. MI-BCI Complete Robot Free Skeleton Development. After calling MI-BCI,
the patient can come forward and hold it. In these cases, we can see that the benefits of
intentional brain discovery enable direct brain learning, thus promising a practical
rehabilitation robot. However, the weakness of the current study is that real-time
problems arise from processing large EEG data, and the accuracy of determining the
exact engine identification rate limits the effectiveness of practical applications.
3.10.2 From Muscle

EMG signals from stroke patients are not enough to move the parietal arm, but powerful
enough to collect data with data collection tools, providing a new approach to dealing
with rehabilitation robots that control arm movements. Robotic arm that has processed
the signal received from the muscle. Ho et al. Development of portable robots with
electromyography (EMG) devices. When the patient voluntarily triggers the motor intent,
the device collects and filters the EMG signal and then controls the robotic arm motor
with the processed signal. The study was conducted in eight chronic patients, and the
results confirmed the effectiveness of the recovery robotic arm in restoring arm function
as the patient's FMA score improved. Also, Fleischer et al. Combined with leg or arm
strength sensors to develop EMG-based rehabilitation robots. This work, in conjunction
with EMG, improves a control strategy based entirely on power signals. However, this
study is for foot only and no relevant studies have yet been found.

EMG technology performs business maneuvers by detecting motor intent directly from
the patient's EMG signal. This is why it works better than traditional muscleless manual
training. However, there are a few more things to look for when it comes to EMG
rehabilitation robots.

20
First, the EMG signal depends on the stroke patient's condition, so the robotic
rehabilitation system needs to adapt. Second, modern EMGs need to be able to
manually identify more types of maneuvers so they can heal more efficiently. Kiguchi
has developed a fog-controlled EMG recovery robot that recognizes various types of
hand and arm movements. However, there are no related studies on finger recognition.
3.10.3 Force and Motion on Hand
One of the most direct ways to determine the user's intent is to measure the patient's
force on the interface. This method has been applied to many passive exoskeletons for
support applications. Likewise, the user's initial finger movement pattern can also act as
a trigger command for a programmable grip based on pattern classification technology.
The advantage of intent, perceived as force and motion, is that you can get more
information from each path of travel compared to an EEG or EMG signal that contains
too little information to act as a variable control input. Limiting arm strength and
movement is the patient's continuous movement requirement. This means that people
with severe myasthenia gravis may not be able to use these robots properly.
3.11 User Feedback
People have their own senses, but they are abnormal or too weak for a stroke patient.
Robots can provide additional brain feedback to form integrated loop-closed pathways
that are important for human-robot interaction. Feedback is usually better compensated
for weakened tactile feedback. It can be visual, auditory, tactile, or multimode.
Feedback can be divided into two types: motor status feedback and engine
performance feedback.
3.11.1 Feedback of Real-Time State
The purpose of using real-time status feedback is to compensate for missed feedback,
such as manual tactile feedback. Feedback can be an image of the force applied to the
device, an index of an EMG/EMG signal, or a real mechanism driven joint motion
compensator.
3.11.2 Feedback of Motor Performance

Feedback on movement activity is mainly used in game patterns. The effectiveness of

this feedback can be explained by a simple Pavlov state. The reward for completing a

21
move provided by a computer program reinforces the engine's feedback loop and
motivates the next step. However, somatosensory feedback on completing the actual
movement is an effective feedback that helps control brain reconstruction. Now let's
take a look at some of the discussions below.

As can be seen from the classification, all these studies have investigated designers of
different types of handshake robots, which have led to significant advances in hand
restraint robots in recent years. However, the increasing clinical use of robots for hand
rehabilitation has not kept pace with prototype development. Even evidence-based
analysis shows that many other alternative interventions have "more powerful evidence"
than robotic therapy [50]. To remind you of future research, the general limitations of
current research on hand rehabilitation robots are as follows: Discuss the experiences
and predictions of research on hardware systems and teaching methods.

3.12 General Limitation

An obvious general limitation of the current study is that many researchers overlook the
importance of evaluating robot designs for hand rehabilitation indicated in the table.
There are three main ways to evaluate a design in a collaborative study. Most of the
research uses the first approach that does not evaluate the robot and does not affect
actual application development. This may make the robot look creative, but the design
is not clear to the patient or therapist. Several studies have used a second design
evaluation method to provide several tests to improve the physical parameters of the
robot or the performance of some scenes. Physical parameters such as ROM of joints,
speed of movement, and support acting on the arm were varied, and certain scenes
such as target accuracy were set entirely subjectively by the researcher. Because these
types of evaluations are different, it is difficult to say that some designs are cheaper
than others. Few studies use the latter approach to evaluate the effectiveness of
designs that combine clinical approaches, such as improving clinical scale, as the most
acceptable rehabilitation method. Although many independent studies show many
successful breakthroughs, systematic EBM studies have little proven usefulness of
rehabilitation robots. This can be explained by the fact that most studies can lead to

22
positive biases in the reported effects due to methodological deficiencies such as the
lack of blind procedures and the intention to process the analysis.

23
 CHAPTER 4

MATERIALS AND METHODS USED

4.1 COMPONENTS
The components used for doing this project were Arduino UNO, LCD, Blutooth,
Buttons, Uln2000a, Servo motor, Finger fixed frame, Power supply module.

4.1.1 ARDUINO UNO

Arduino is a company, project, and community for users of computer

hardware and software that designs and manufactures microprocessor
kits to create digital devices and interactive objects that can detect and
control objects in the physical world. Project products are classified as
open source hardware and software licensed under the GNU Reduced
General Public License (LGPL) or GNU General Public License (GPL),
allowing anyone to create Arduino cards and distribute software. Arduino
cards are commercially pre-assembled or available as a DIY kit.

Arduino cards use a variety of microprocessors and controllers. The card

has a set of digital input/output pins (analog (I/O)) that can be connected
to various expansion cards (screen) and other circuits. The card has a
serial communication interface including USB (Universal Serial Bus) on
some models, and is also used to download software from a computer.
Microcontrollers generally dialectically program the functions of the C and
C++ programming languages. In addition to using existing compiler tools,
the Arduino project provides an integrated development environment
(IDE) based on the Processing language project.

The Arduino project began in 2005 as a student program at Ivrea

Interaction Design [2] in Ivrea, Italy, which provides beginners and experts
with a cheap and easy way to create eco-friendly devices using sensors
and actuaries Aim to do. . Common examples of such devices intended
for beginners are simple robots, thermostats and motion sensors.
The name Arduino comes from a bar in Ivrea, Italy, where some of the
founders of the project used to meet. The bar named after Arduino of
Ivrea, who was the margrave of the March of Ivrea and King of Italy from
1002 to 1014.

24
 FIGURE 4.1.1a ARDUINO PINOUT GUIDE
Hardware of Arduino:
Arduino is open source hardware. Hardware reference samples are licensed
under the Creative Commons Attribution Share-Alike 2.5 license and are
available on the Arduino website. Layout and production files are also
available for some hardware versions. The source code of the IDE has been
released under version 2 of the GNU General Public License. However,
Arduino has never released a list of official resources for Arduino cards.
Arduino cards contain 8-bit, 16-bit or 32-bit AVR microcontrollers (ATmega8,
ATmega168, ATmega328, ATmega1280, ATmega2560), but microcontrollers
from other manufacturers have been around since 2015. Cards use either a
connection or a single socket. Headings to simplify programming connections
and include in other diagrams. It can be connected to an additional module
called a shield. Multiple screens can be tackled individually and can also be
stacked over an I²C serial bus. Most cards have a 5V linear controller and a
16MHz crystal or ceramic resonator.Some designs, such as the LilyPad, run
at 8 MHz and dispense with the onboard voltage regulator due to specific
form-factor restrictions.

The Arduino microcontroller is pre-programmed with a starter charger that allows you to
easily load programs into the spacecraft's mounted flash memory. The standard Arduino
UNO initiator is the optiboot initiator. The board is loaded with software code through a
serial connection to another computer. Some Arduino series cards contain level offset
circuitry for conversion between RS-232 logic level and transistor-to-transistor logic
level (TTL) signals. Modern Arduino cards are programmed via a Universal Serial Bus
(USB) powered by USB to an IC serial adapter such as the FTDI FT232.

25
Some cards, such as the latest fusion cards, replace the FTDI IC with a
separate AVR IC with USB series firmware reprogrammed through its own
ICSP header. Other variants, such as the unofficial Arduino Mini and
Boarduino, use detachable USB to board serial or cable adapters, Bluetooth
or other modes when used with existing microcontroller equipment to
replace the Arduino IDE, which is a standard AVR system internal
programming (ISP) use.

Figure 4.1.1b: Arduino UNO

The Arduino board provides most of the microcontroller I/O pins for use with other
circuits. Diecimila, Duemilanove and Uno] have 14 digital I/O pins, of which 6 can
generate PWM signals and 6 analog inputs can be used as 6 digital I/O pins. These
pins are placed on the top of the board through a 0.1 inch (2.54mm) connector. There
are also several commercially available plugin app screens. Arduino Nano cards and
Arduino compatible bone boards and Arduino boards may have headers that can be
attached to the soldered board at the bottom of the card.

There are many cards that are compatible with Arduino and Arduino derivatives. Some
of them are functionally identical to the Arduino and can be used interchangeably. To
make it easier for many people to make strollers and small robots, we improve the basic
Arduino by adding an output driver for the school. Others are electrically the same, but
sometimes by changing the form factor to maintain screen compatibility and sometimes
not. Some variants use different processors with different compatibility

26
Software development

Arduino programs can be written in any programming language that generates binary machine
code for the target processor. Atmel provides a development environment for microcontrollers, AVR
Studio and new versions of Atmel Studio.
The Arduino Project provides an Arduino IDE (Integrated Development Environment), a platform
application written in the Java programming language. Derived from processing and wiring IDE. It
includes a code editor with features such as cut and paste text, find text, auto-insert, match
brackets, and highlight syntax, and provides a simple mechanism to compile and download the
application to a one-click Arduino card.
It also includes a message area, text console, a toolbar with common function buttons, and a
hierarchy of action menus.
Sketch is the name of a program written in IDE for Arduino. The sketch is saved on the developer
computer as a text file with the .ino file extension. Arduino software (IDE) prior to 1.0 saved
thumbnails with a .pde extension.
The Arduino IDE supports C and C++ languages with specific code structure rules. The Arduino
IDE provides a library of programs for Wiring projects that provide many common input and output
routines. The user-written code needs the main function to run the sketch and a link to the main
program, which compiles and links to the main compartment () to run the back loop executable with
the GNU toolbox. IDE deployment. . The Arduino IDE uses the avrdude program to convert the
executable code into a hexadecimal text file that is loaded onto the Arduino card by the bootloader
program on the table hardware.

Applications

• Xoscillo, an open-source oscilloscope.

• Arduinome, a MIDI controller device that mimics the Monome.
• OBDuino, a trip computer that uses the on-board diagnostics interface found in
most modern cars.
• Ardupilot, drone software and hardware.
• Gameduino, an Arduino shield to create retro 2D video games.
• Arduino Phone, a do-it-yourself cellphone.
• Water quality testing platform.
• Automatic titration system based on Arduino and stepper motor.
• Low cost data glove for virtual reality applications.
• Impedance sensor system to detect bovine milk adulteration.
• Homemade CNC using Arduino and DC motors with close loop control by
Homofaciens.
• DC motor control using Arduino and H-Bridge.

27
Technical Specifications

Fig: 4.1.1c Technical Specifications.

Programming

The Arduino/Genuino Uno can programmed with the (Arduino Software (IDE)).
Select "Arduino/Genuino Uno from the Tools > Board menu (according to the
microcontroller on your board). For details, see the reference and tutorials.

28
The Arduino/Genuino Uno's ATmega328 comes with a pre-programmed bootloader that allows you
to load new code without using an external hardware programmer. It communicates with the
original STK500 protocol (link, basic C file).
You can also bypass the initiator and program the microcontroller via an Arduino ISP or similar
ICSP (Circuit Internal Programming) header. See these instructions for more details.
The source code for ATmega16U2 (or 8U2 on rev1 and rev2 cards) is in the Arduino repository.
The ATmega16U2/8U2 is loaded with a DFU initiator that can be activated.
• Rev1 card: Connect the soldering iron to the back of the card (next to the Italian card), then
replace the 8U2.
• Rev2 or later card: There is a resistor connecting the 8U2 / 16U2 HWB line to ground, so you can
easily enter DFU mode.
You can then use Atmel FLIP software (Windows) or DFU programmer (Mac OS X and Linux) to
download the new firmware. You can use the ISP header with an external programmer (overwrite
the DFU initiator). See this walkthrough guide for more details.

Here is a photo of the Arduino wired on a circuit board.

Fig: 4.1.1d Arduino Connections on circuit board.

29
 Memory
ATmega328 is 32kB (0.5kB is used by the bootloader). It also has 2KB SRAM and 1KB EEPROM
(which can be read and written using the EEPROM library).
Input and Output
Arduino pin and ATmega328P port mapping. The display of the Atmega8, 168 and 328 is the same.
All 14 digital pins from Merger can be used as inputs or outputs using the pinMode(), digitalWrite()
and digitalRead() functions. It works at 5 volts. Each pin can deliver or receive 20mA depending on
the recommended operating conditions, and its internal resistance (disabled by default) is 20-50kΩ.
The maximum value of 40mA is a value that should not be exceeded on the I/O pin to prevent
irreparable damage to the microcontroller.
In addition, some pins have specialized functions:
• Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit TTL (TX) serial data. This
pin connects to the corresponding pin of the ATmega8U2 USB-to-TTL series.
• External Interrupt: 2 and 3. These pins can be configured to trigger a low value
interrupt, a rising or falling edge, or a value change. See Schedulterter() function for
more information.
• PWM: 3, 5, 6, 9, 10 and 11. Input analogWrite() to the 8-bit PWM pin.
• SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). This pin supports SPI communication
with the SPI library.
• LED: 13. The built-in LED is controlled by digital pin 13. The LED is on when the pin is
set to HIGH, and off when the pin is low.
• TWI: pin A4 or SDA and pin A5 or SCL. Maintains TWI communication with the Wire
library.
The Fusion has 6 analog inputs labeled A0 through A5, each with 10-bit resolution (i.e. 1024
different values). Basically it measures ground voltage up to 5V, but you can change the top of the
range using the AREF pin and analogReference().
There are a couple of other pins on the board:
• AREF. Reference voltage for analog input. Used with analogReference().
• Restart. Set this line to LOW to reset the microcontroller.
Typically used to add a reset button so that the screen blocks the built-in button.

30
Communication

The Arduino/Genuino Uno offers a variety of ways to communicate with your computer,
other Arduino/Genuino cards, or other microcontrollers. The ATmega328 provides TTL
(5V) UART serial communication that can be used on digital pins 0 (RX) and 1 (TX).
The built-in ATmega16U2 transmits this serial communication via USB and appears as
a virtual COM port for your computer's software. The firmware 16U2 uses a standard
USB COM driver and does not require an external driver. However, in Windows you
need the .inf file. The Arduino software (IDE) includes a serial monitor that allows you
to send and receive simple text information from the card. Built-in RX and TX LEDs
flash when data is transmitted to a computer via a USB-series chip and USB
connection (but not for serial communication on pins 0 and 1).
• SoftwareSerial library provides serial communication on all digital pins of Uno.
• ATmega328 also supports I2C (TWI) and SPI communication.
The Arduino software (IDE) contains a wire library that simplifies the use of the I2C bus. Please
refer to the documentation for more details. For SPI communication, use the SPI library.

Official boards

The original Arduino hardware was manufactured by the Italian company Smart Projects.
Some cards labeled Arduino were developed by American companies SparkFun Electronics and
Adafruit Industries. As of 2016, there are 17 commercially available versions of Arduino hardware.
Software development. Arduino programs can be written in any programming language that
generates binary machine code for the target processor. Atmel provides a development
environment for microcontrollers, AVR Studio and new versions of Atmel Studio. The Arduino
Project provides an Arduino IDE (Integrated Development Environment), a platform application
written in the Java programming language. Derived from processing and wiring IDE.
It includes a code editor with features such as cut and paste text, find text, auto-insert, match
brackets, and highlight syntax, and provides a simple mechanism to compile and download the
application to a one-click Arduino card. It also includes a message area, text console, a toolbar with
common function buttons, and a hierarchy of action menus.

31
The power pins are as follows:

• V inches. Input voltage to the Arduino/Genuino card when using an external

power supply (as opposed to a 5V USB connection or other regulated power
supply). You can supply voltage through this pin or, if voltage is supplied through
the power plug, you can access it through this pin.
• 5V. This pin outputs an adjustable 5V voltage from the ship's regulator. The card
can act as a DC socket (7-12V), a USB socket (5V), or the VIN pin (7-12V) on
the card. Installing a voltage past the control unit and through the 5V or 3.3V pin
can damage the card.
• 3V3. 3.3V power generated by the built-in control unit. The maximum current
consumption is 50mA.
• GND. Primary contact.
• OK. This pin on the Arduino/Genuino card provides the reference voltage
through which the microcontroller operates. A properly configured monitor can
read the voltage from the IOREF pin and select an appropriate power supply or
have the voltage converter at the output operate at 5V or 3.3V.

Automatic (Software) Reset

Instead of physically pressing the reset button before expanding, the

Arduino/Genuino Uno card is designed to be able to recover with software
running on the connected computer. One of the ATmega8U2/16U2 (DTR)
hardware flow wires is connected to the ATmega328 replacement line through a
100nF capacitor. When this line is required (lowered), the reset line is low enough
to replace the chip. The Arduino software (IDE) uses it, so you can download the
code by clicking the download button on the interface toolbar. This means the
initiator can have a shorter timeout because the DTR descent can be well
coordinated with the starter.

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4.1.2 16*2 LCD MODULE

LCD modules are commonly used in most embedded projects due to their low
cost, availability and convenience for programmers. Most of us come across
these monitors in our daily lives, whether at PCOs or at calculators. The shape
and pinout have already been done above, so let's talk about the technical details
now.

The 16x2 LCD got its name. It has 16 columns and 2 rows. There are many
combinations available, such as 8x1, 8x2, 10x2, 16x1, etc, but 16x2 LCD screens
are the most commonly used. So (16x2 = 32) contains 32 characters and each
character will be 5 x 8 pixels. Characters with all pixels are shown in the picture
below.

Now you know that each character (5 × 8 = 40) has 40 pixels and for 32
characters there are (32 × 40) 1280 pixels. Also, the LCD screen should be
oriented towards the pixel position. This makes it difficult to handle everything
with the MCU, so use an IC interface like the HD44780 mounted on the back of
the LCD module itself. The function of this IC is to receive commands and data
from the MCU and process them to display meaningful information on the LCD
screen. You can use the link above to learn how to connect to an LCD monitor. If
you are an experienced programmer and want to create your own microcontroller
library to interact with this LCD module, you need to understand the commands
HD44780 IC will work and appear in the datasheet.

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 2D model of 16×2 LCD module

Figure 4.1.2a 2D model of 16*2 LCD

Figure 4.1.2b LCD VIEW

Features of 16×2 LCD module

• Operating voltage from 4.7V to 5.3V.

• Power consumption is 1mA without backlight.
• Alphanumeric LCD module, ie it can display letters and numbers.
• Consists of two lines, each line can print 16 characters.
• Each character has a 5 × 8 pixel square.
• Can work in 8 bit and 4 bit modes

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 • It can also display all symbols created by the user.
• Can be used with green and blue backlights.

Pin Configuration

Pin Pin Name: Description

No:
1 Vss (Ground) Ground pin connected to system ground
2 Vdd (+5 Volt) Powers the LCD with +5V (4.7V – 5.3V)
3 VE (Contrast V) Decides the contrast level of display. Grounded to get maximum contrast.
4 Register Select Connected to Microcontroller to shift between command/data register
5 Read/Write Used to read or write data. Normally grounded to write data to LCD
6 Enable Connected to Microcontroller Pin and toggled between 1 and 0 for data
acknowledgement
7 Data Pin 0

Data pins 0 to 7 forms a 8-bit data line. They can be connected to Microcontroller
to send 8-bit data.
These LCD’s can also operate on 4-bit mode in such case Data pin 4,5,6 and 7 will
be left free.
8 Data Pin 1
9 Data Pin 2
10 Data Pin 3
11 Data Pin 4
12 Data Pin 5
13 Data Pin 6
14 Data Pin 7
15 LED Positive Backlight LED pin positive terminal

16 LED Negative Backlight LED pin negative terminal

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 Figure 4.1.2 c LCD PIN DESCRIPTION

4.1.3 BLUTOOTH

The HC-05 is a very nice module that allows you to add two-way (dual) wireless
communication to your project. You can use this module to communicate between two
microcontrollers like an Arduino, or any Bluetooth device like a phone or laptop. There
are already many Android apps out there that make the process a lot easier. This
module communicates with USART on the 9600 board, so you can easily interact with
any microcontroller that supports USART. You can also change the module's defaults in
command mode. So, if you are looking for a wireless module that can transfer data from
a computer or mobile phone to a microcontroller or vice versa, this module may be the
right choice. But don't expect this module to stream multimedia as images or songs.
You may need to look into the CSR8645 module for this.

How to use HC-05 Bluetooth module

The HC-05 has two modes of operation. One is the data mode, which allows you to
send and receive data from other Bluetooth devices, and the other is the AT command
mode, which allows you to change the default settings of the device. You can use the
device in these modes using the key pins described in the contact description.

36
Because the HC-05 module works with SPP (Serial Gateway Protocol), it is very easy to
connect to a microcontroller. Turn on only the +5V module, connect the Rx-pin module
to the Tx MCU and connect the Tx-pin module to the Rx MCU as shown below.

Figure 4.1.3 BLUTOOTH(HC-05)MODULE

4.1.4 PUSH BUTTON SWITCH

The button is usually an open tactile switch. The button allows you to activate the circuit
or make a special connection only at the push of a button. When pressed, the circuit
closes, and when released, it opens. This button is also used to trigger the SCR near
the gate terminal. This is the most common button we see on our everyday electronic
equipment.
Applications

• Calculators
• Push-button telephones
• Kitchen appliances
• Magnetic lock

4.1.5 SERVO MOTOR

Servo motors are a type of motor that can rotate very precisely. This type of motor
usually contains a control circuit that provides feedback on the current position of the
motor shaft, and this feedback allows the servo motor to rotate with great detail. Use a
servo motor to rotate an object to a certain angle or distance. There is a simple motor
that passes through a servo mechanism. If the motor is driven by a DC power supply, it
is called a DC motor, and if it is an AC motor, it is called an AC motor. In this tutorial,
only DC servo motor operation is described. In addition to these base classes, there are

37
many other types of servo motors depending on their performance and box type. Servo
motors usually come with a gearbox, so you can get very high torque servo motors in a
small and light cover. Because of these features, they are used in many applications
such as toy cars, helicopters and remote control aircraft, robotics, etc.
Servo motors are displayed as kg/cm (kg/cm), and most hobby servo motors are
displayed as 3kg/cm, 6kg/cm, or 12kg/cm. This kg/cm refers to the weight the servo
motor can lift a certain distance. Example: 6kg/cm servo motor should be able to lift 6kg
if the load is 1cm away from the motor axis. The longer the distance, the lower the load-
bearing capacity. The position of the servo motor is determined by the electric shock,
and the electric circuit is adjacent to the engine.
Servo Motor Working Mechanism
It consists of three parts:
• Controlled device
• Output sensor
• Feedback system

It is a closed loop system that uses a positive feedback system to control the movement
and position of the shaft. In this case, the device is controlled by a feedback signal
generated by comparing the output signal with the reference input signal. Here the
reference input signal is compared to the reference output signal and a third signal is
generated by the feedback system. And this third signal serves as an input to control
the device. This signal exists as long as a feedback signal is generated or there is a
difference between the reference input signal and the reference output signal.
Therefore, the main task of the servo is to keep the system output at the desired level in
the presence of noise.

38
Servo Motor Working Principle

Servo drives include motors (DC or AC), potentiometers, gearboxes and control circuits.
First of all, the gearbox is used to reduce the engine speed and increase the torque.
Let's say the position of the potentiometer disk at the initial position of the servo motor
shaft means that no electrical signal is generated at the output of the potentiometer. The
electrical signal is now fed to the second input of the error detector amplifier. Now the
difference between these two signals is that one is a potentiometer and the other is a
signal from another source, so it is processed by the feedback mechanism and an error
signal is provided to the output. This error signal acts as an input to the motor and the
motor starts to rotate. Now the motor shaft is connected to the potentiometer and the
potentiometer generates a signal when the motor rotates. So when the angular position
of the potentiometer changes, the output signal changes. After a while, the position of
the potentiometer, the output signal of the potentiometer reaches the same position as
the external signal. In this state, since there is no difference between the signal applied
externally and the signal generated by the potentiometer, the output signal from the
amplifier is not applied to the motor input, in which case the motor stops rotating.

Interfacing Servo Motors with Microcontrollers:

It is very easy to connect hobby servo motors like servo motor s90 to MCU. The server
has three outgoing wires. Two are used for power supply (positive and negative), and
one is used for signals sent from the MCU. Here is the picture of the MG995 servo
motor MG995 with metal tools most commonly used in humanoid robots, radio
controlled cars, etc.

Figure 4.1.5 SERVO MOTOR

39
 Servo motors may have different color codes, please check their data sheet.
Each servo motor works directly with the +5V power rail, but you need to pay attention
to the amount of current the motor draws. If you plan to use more than one servo
motor, you need to design a suitable servo shield.
4.2 SOFTWARE MODULE DESCRIPTION

Arduino Installation

After learning about the main components of the Arduino UNO board, you are ready to
learn how to set up the Arduino IDE. Once you know this, you are ready to download
the program to your Arduino card.

In this section, you can easily learn how to set up the Arduino IDE on your computer
and prepare the card to receive programs via USB cable.

• First you'll need an Arduino card (you can choose the one you like) and a USB cable.
If you are using an Arduino UNO, Arduino Duemilanove, Nano, Arduino Mega 2560 or
Diecimila, you will need a standard USB cable (male A to B) to connect to a USB printer
as shown below.
• Download the Arduino IDE software. You can get various versions of the Arduino IDE
from the download page of the Arduino official website. You need to choose software
that is compatible with your operating system (Windows, IOS or Linux). When the file is
downloaded, unzip the file.

Figure 4.2a Installation

• Turn on the table. Arduino Uno, Mega, Duemilanove, and ArduinoNano automatically
extract power from a USB-to-computer connection or external power supply. If you are
using an Arduino Diecimila, make sure the card is configured to get power from the USB
connection.

40
The power supply is selected using a jumper, a small piece of plastic that fits on two of
the three pins between the USB connector and the power connector
.
• Make sure it is on the 2 pins closest to the USB port. Connect the
Arduino card to your computer with a USB cable. The green power
indicator (PWR) should be on.
• Launch Arduino IDE. After your Arduino IDE software downloaded,
you need to unzip the folder. Inside the folder, you can find the
application icon with an infinitylabel (application.exe). Double-click
the icon to start the IDE.

Figure 4.2b Application

Figure 4.2c Creating a File

41
 • Open your first project. Once the software starts, you have two options:
• Create a new project.
• Open an existing project example.
• To create a new project, select File --> New
• To open an existing project example, select File -> Example -> Basics -> Blink.

Here, we are selecting just one of the examples with the name Blink. It turns
the LED on….and off with some time delay. You can select any other
example from the list.

Figure 4.2d Code status by compiling

Select your Arduino board. To avoid any error while uploading your program
to the board, you must select the correct Arduino board name, which
matches withthe board connected to your computer.
Go to Tools -> Board and select your board.

42
 CHAPTER-5

RESULTS AND DISCUSSIONS

However, for safety reasons, the engine torque was limited to 20% of the upper torque to keep
the exoskeletons stronger. The performance of the PID loop is tuned to the idle state. For
continuous traffic. Website administration is more accurate than unnecessary tweaks or
variations. The SMC constant was also determined in the no-load experiment. Velocity and
acceleration are calculated as numerical discrimination. Both control loops currently operate at
2.5 kHz.

In the experiment, the transient response performance of 0 to 90 degrees in the MCP

connection was evaluated for both types of controllers. In this experiment, the user was
passive and did not object to or against movement. FIG. 3 shows the data entered for PID
control and slider. The PID controller shows satisfactory performance. Deviation is the degree
to which the desired value can be achieved. However, you cannot set up a faster response to
maintain stability. What hinders approaching the desired value is due to changes in the load
and friction of the Bowden cable. For comparison, SMC can provide a quick response while
maintaining stability. The greatest deviations after the development and handling of passive
exoskeletons for rehabilitation.

43
5.1 JOINT RANGE OF MOTION

For maximum rehabilitation outcomes, the exoskeleton's finger reachable ROM should be
close to the natural ROM for healthy toes. To evaluate this performance, the angle was
measured in the upper limb of the arm without an exoskeleton. In both conditions, the motif
rotated each joint three times to the highest angle. A total of 30 angular values were collected
for each joint, and the average values for the inch and index joints are shown in the table
below.

TABLE 5.1.1 Maximum angle to create the best prints without self exclusion.

Thumb Joint (°)

IP MP CMC1 CMC2
With Exos. 70.0 79.0 33.1 28.4
Without Exos. 82.0 86.0 35.0 32.3
Difference 12.0 7.0 1.9 3.9

TABLE 5.1.2 Maximum angle for connecting INDEX to EXOSKELTON and without
EXOSKELTON

Index Finger Joint (°)

DIP PIP MCP1

MCP2
With Exos. 46.5 102.1 84.1 24.0
Without Exos. 64.9 119.5 91.6 23.8
Difference 18.4 17.4 7.5 0.2

The results in the table show that the maximum angle of each joint with the device is less than
without. This is due to the fact that the Velcro strap tightens the soft tissue of the phalanx pad
and limits joint movement to some extent. In addition, lean design can lead to measurement

44
errors. However, these results are acceptable given that patients are generally less athletic
and have a slightly lower limiting angle to protect the patient than a healthy person.

5.2 IDEAL VIEW

After all connections are established using the component and the device is activated.
The code is included in the arduino merger and the exoskeleton is ready to be reset.
The image below shows a portable exoskeleton.

Figure 5.2.1 Demonstration

Here there are five buttons named (A,B,C..E), each button has a specific function to do.
If we press button A, then thumb will be Closes. Similarly when we press B, Thumb will
be opened. And when we press C, Index finger closes similarly pressing D index finger
opens. And we can also control this using wireless network like blutooth.

45
Figure 5.2.2 Thumb open Figure 5.2.3 Thumb Close

Figure 5.2.4 Index finger Close Figure 5.2.5 Index open

46
 CHAPTER 6

CONCLUSION AND FUTURE WORKS

Taking into account the results obtained in the experimental class, it can be concluded
that the developed unit is suitable for a wide range of tests aimed at patients with
physical disabilities. With the newly developed force sensor, the exoskeleton now offers
a custom interface that can contain multiple steps of reset. If in the early stages the
patient is unable to perform the movements of the affected arm, the proposed MT-
based robotic therapy may be an effective starting point. After the user has manually
verified, you can use the trigger control method to include paired members in your
workout. Ongoing strategies for managing police feedback during the advanced stages
of the rehabilitation process can lead to interesting approaches to improving fine motor
skills and grip strength. All presented tests were performed with the same finger
module without any repair or maintenance between users. This is the first indication of
the possibility of using technical polymers as structural materials. This fact can lead to
lightweight devices and structures that can be manufactured inexpensively using
casting techniques. In any case, this is just a preliminary conclusion that requires
further investigation. After evaluating the load with the new built-in power converter, you
can perform FEA structural modeling using a variety of polymers to select the most
suitable building material. Knowledge of the resistance limits of various structural
elements, along with force measurements, makes it possible to implement additional
security measures to maintain the integrity of the device and the user.

47
 REFERENCES

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[12] Frisoli A., Loconsole C., Leonardis D., et al. A new gaze-BCI-driven control of an upper
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