Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 56 2 2024 04 20 Design, build and control the rehabilitation robot to move fingers Design, build and control the rehabilitation robot to move fingers 273 294 5470 10.22060/mej.2024.22947.7700 FA Niloufar Azadi Sohi Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran Majid Sadedel Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran 0000-0002-0285-8460 Majid Mohammadi Moghadam Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran Journal Article 2024 02 05 This research presents the design and development of a prototype fabric-based wearable soft exoskeleton. The soft glove assists the flexion and extension motion of the user’s hand with adjustable speed. The cable method is used to help bending fingers and for extending the fingers, spring blades have been used, the cables are gathered with the help of the gearbox engine and the fingers return to their normal state by reversing the direction of the engine and the force of the springs. With bandwidth modulation circuits and programming in the microcontroller, the movement and speed of the built robot are controlled. In order to determine the appropriate placement of components, including spring blades and cables, robot simulation was performed in SolidWorks software, and with the help of experimental tests, suitable spring blades were selected in terms of strength and force. The resulted soft glove is attached on the human healthy hand for assisting the finger flexion and extension. Based on the test result, the proposed system obtained the highest average for the duration of learning to work with it, which indicates user-friendliness. the parameter related to the feeling of comfort of the fingers in the glove has the lowest average due to the dense structure of the glove. This research presents the design and development of a prototype fabric-based wearable soft exoskeleton. The soft glove assists the flexion and extension motion of the user’s hand with adjustable speed. The cable method is used to help bending fingers and for extending the fingers, spring blades have been used, the cables are gathered with the help of the gearbox engine and the fingers return to their normal state by reversing the direction of the engine and the force of the springs. With bandwidth modulation circuits and programming in the microcontroller, the movement and speed of the built robot are controlled. In order to determine the appropriate placement of components, including spring blades and cables, robot simulation was performed in SolidWorks software, and with the help of experimental tests, suitable spring blades were selected in terms of strength and force. The resulted soft glove is attached on the human healthy hand for assisting the finger flexion and extension. Based on the test result, the proposed system obtained the highest average for the duration of learning to work with it, which indicates user-friendliness. the parameter related to the feeling of comfort of the fingers in the glove has the lowest average due to the dense structure of the glove. https://mej.aut.ac.ir/article_5470_baed9f51d412c2514ee46a0942138ad6.pdf