MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION THESIS MAJOR: MECHATRONICS ENGINEERING TECHNOLOGY RESEARCH, DESIGN, AND FABRICATION OF SMART ASSISTIVE GLOVES FOR MYASTHENIA PATIENTS INSTRUCTOR: TRAN MINH THIEN STUDENT: NGUYEN HAI DANG BUI DANG KHOA Ho Chi Minh city, July 2024 MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING GRADUATION THESIS RESEARCH, DESIGN, AND FABRICATION OF SMART ASSISTIVE GLOVES FOR MYASTHENIA PATIENTS Superivor: Tran Minh Thien, Ph. Student Executor: Nguyen Hai Dang 20146110 Bui Dang Khoa 20146108 Ho Chi Minh City, July 2024 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING DEPARTMENT OF MECHATRONICS GRADUATION THESIS RESEARCH, DESIGN, AND FABRICATION OF SMART ASSISTIVE GLOVES FOR MYASTHENIA PATIENTS Superivor: Tran Minh Thien, Ph. Student Executor: Nguyen Hai Dang 20146110 Bui Dang Khoa 20146108 Ho Chi Minh City, July 2024 TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT TP HCM CỘNG HÒA XÃ HỘI CHỦ NGHĨA VIỆT NAM KHOA CƠ KHÍ CHẾ TẠO MÁY Độc lập – Tự do – Hạnh phúc Bộ môn Cơ Điện tử NHIỆM VỤ ĐỒ ÁN TỐT NGHIỆP Học kỳ 2/ Năm học 2023 – 2024 Giảng viên hướng dẫn: TS. Trần Minh Thiên Sinh viên thực hiện: 1.
Nguyễn Hải Đăng MSSV: 20146110 SĐT: 0981642324 2. Bùi Đăng Khoa MSSV: 20146108 SĐT: 0814359122 1. Mã số đề tài: CDT-40 - Tên đề tài: Research, Design, and Fabrication of Smart Assistive Gloves for Myasthenia Patients. Các số liệu ban đầu - Hoàn thành tổng quan tài liệu liên quan đến thiết kế chuyển động của tay.
- Mẫu thiết kế găng tay 3. Nội dung chính của đồ án - Thiết kế mô hình cho găng tay trợ lực. Gia công và thử nghiệm mô hình. - Xây dựng mạch điện và chương trình điều khiển.
- Hoàn thiện và viết báo cáo. Các sản phẩm dự kiến - Mô hình - Báo cáo thuyết minh 5. Ngôn ngữ báo cáo: Bản báo cáo ☑ Tiếng Anh ☐ Tiếng Việt Trình bày bảo vệ ☑ Tiếng Anh ☐ Tiếng Việt TRƯỞNG KHOA TRƯỞNG NGÀNH GIẢNG VIÊN HƯỚNG DẪN (Ký, ghi rõ họ tên) (Ký, ghi rõ họ tên) (Ký, ghi rõ họ tên) i COMMITMENT Project: Research, Design and Fabrication of Smart Assistive Gloves for Myasthenia Patients Lecturer: Tran Minh Thien, Ph. Student: Nguyen Hai Dang.
Address: An Lac Ward, Binh Tan District, Ho Chi Minh City.vn Student: Bui Dang Khoa. Address: Tang Nhon Phu A Ward, Thu Duc City, Ho Chi Minh City. Email: khoa05092002@gmail.com Commitment: “We affirm that the graduation thesis on the research, design, and fabrication of smart assistive gloves for myasthenia patients presented here results from our research and efforts. We have not replicated any content from published articles without proper citation.
The experimental data, results, and graphs presented in the thesis are truthful. If any breaches are identified, we accept full responsibility for the consequences” Ho Chi Minh City, July 2024 ii ACKNOWLEDGEMENT I want to first extend sincere gratitude to our supervisor, Dr. Tran Minh Thien on behalf of the team. His expertise and dedicated guidance have played an essential role in directing our research and helped the authors to achieve our accomplishments to date.
Thien's professional advice, patient responses to our inquiries, and encouragement have helped our team overcome challenges, broaden our knowledge, and achieve the target. I want to express deep appreciation for his dedicated assistance on behalf of my team. Next, I would like to express my sincere thanks to Ho Chi Minh City University of Technical Education for providing a professional and resourceful learning environment. The university has always been an endless inspiration in development, innovation, and creativity according to its mottos.
Moreover, the supportive lecturers and staff have given me the confidence and motivation to develop. I am extremely grateful for their dedication to nurturing and training the country's future talents. Next, I also express my deepest gratitude to my family for their encouragement and support throughout my academic progress. Those have been seeds that planted the starting point of my journey, and I am forever grateful for them, along with my dear friends who have given me their invaluable support.
Finally, I and my team would like to express our gratitude to those who have contributed to the development of this project throughout the stages. I and my team will not let down all of the valuable credit, encouragement, and support for the authors in this challenging but worthy journey. Sincerely, Bui Dang Khoa Nguyen Hai Dang iii ABSTRACT The limbs play a crucial role in daily life and human labor. Humans use their hands for basic gripping activities, and the hands can also execute delicate and precise movements due to the corporation of muscles and tendons that regulate the fingers.
However, not everyone is fortunate in this regard. Some individuals experience weakness due to factors like illness or accidents. This limitation significantly impacts the daily lives of these patients, especially those with myasthenia. Unlike stroke survivors, whose bodies can still recognize sensory stimuli to activate muscle contractions, these patients face extreme difficulty due to muscle fatigue, even though their hand muscle and bone systems remain unaffected.
When experiencing myasthenia in the hands, they struggle to grasp objects independently. Therefore, in this project, the authors aim to research, design, and fabricate a smart assistive glove for patients with myasthenia. The soft glove is made from TPU (Thermoplastic Polyurethanes), which is non-irritating to the skin and environmentally friendly. For the transmission mechanism, the authors research a tendon-driven mechanism the glove, specifically designed for patients with myasthenia.
This device can assist with gripping activities in their daily lives. As result, the authors have fabricated the glove, ensuring it is compact and customizable for each patient, with easy manufacturability. By incorporating flex sensors into the glove and combining them with signal filters for safe device control. Through experimentation, the authors have demonstrated its high effectiveness in supporting grasping and manipulation of experimental objects.
iv TABLE OF CONTENTS NHIỆM VỤ ĐỒ ÁN TỐT NGHIỆP. iv TABLE OF CONTENTS. v LIST OF TABLES. viii LIST OF FIGURES.
ix CHAPTER 1: INTRODUCTION .3 Research subjects and scope .5 Structure of the report .4 CHAPTER 2: LITERATURE REVIEW .1 Introduction to the device's target users .1 Introduction to Myashenia Gravis .2 Overview of human hand anatomy .3 A research overview of assistive gloves .2 The challenges in research and development .1 The challenges in the transmission mechanism design .2 The challenges in designing control system.1 Solutions for gloves using soft and flexible material .2 Solutions for mechanical transmission .3 Solutions for system control .18 CHAPTER 3: RESEARCH, DESIGN, AND FABRICATION OF THE ASSISTIVE GLOVE .2 Approach for designing the soft glove .1 Components of the glove .3 Initial design concept.4 Final design proposal - retaining advantages and addressing disadvantages .3 The kinematic model of the glove with human fingers .4 Fabricating, testing, and evaluating of the assistive glove .1 Design and fabrication process of Assistive Gloves .3 Testing and evaluation .36 CHAPTER 4: DESIGN AND FABRICATION OF THE MECHANICAL TRANSMISSION .1 The operating principle of the gloves using tendon-driven transmission.2 Technical requirements for transmission mechanism .3 Approaches to design of transmission mechanism .1 Approach 1 – The string-tension mechanism using spring elastic force .2 Approach 2 – The tendon-controlling transmission mechanism.4 Calculate and design the transmission mechanism .2 Choose the tendon wire .3 Calculate the dimension of the main coil and the feeding coil.4 Calculate and choose the motor .6 Select the ball bearings.5 The fabrication of the mechanical transmission .2 Details fabrication and assembly .59 CHAPTER 5: THE DEVELOPMENT OF CONTROL PROGRAM AND DEVICE OPERATION EXPERIMENTS.1 Device control purposes .2 Actuator controlling system .1 The system overview .2 Components in the control system .3 Interface with the STMCubeMonitor application .3 Responses of the system .1 Read and filter signal noise from bending sensors (Flex sensors) .2 Finger’s range of movement calibration feature .3 DC motor position control responses .4 The controller flowchart .5 The device's responses in finger contraction and extension support .91 CHAPTER 6: CONCLUSIONS AND FUTURE DEVELOPMENT .103 vii LIST OF TABLES Table 2.1: Flex sensor characteristics .2: Kalman filter value update formula table .1: Parameters for kinematic model .2: Settings for printing the TPU glove .1: The dimensions of the gears .2: Table of JGB37-520 dc motor characteristics .3: Table of the details in the transmission mechanism.4: 3D printing parameter setup of PLA plastic details .1: The PID controller parameters .2: Summary of mechanical properties of 3d printing plastic types. 99 viii LIST OF FIGURES Figure 1.1: The rigid exoskeleton has many disadvantages .1: The model of the human hand skeletal system .2: The anatomy of the human hand .3: The soft glove which is a combination of fabric and silicone for rehabilitation support from Dalian Maritime University (China) .4: The soft exoskeleton uses pneumatic artificial muscles .5: The soft glove and the controller developed by the Wyss Institute and the Harvard Biodesign Lab .6: The Exo-Poly glove is developed by Seoul National University.7: The Saebo's company assistive glove .8: Saebo Flex solution (a) and SaeboReach (b) that support patients in rehabilitation .9: The working principle of the transmission from Seoul National University .10: PID Controller block diagram .11: The D term with its low-pass filter.12: Encoding states of quadruplicate reading .13: Bend sensor (or flex sensor) and voltage divider circuit.14: Use 5th-order Butterworth filter with 2Hz cutoff frequency for the flex sensor .15: Description of how a 1-dimensional the Kalman filter works .16: The illustration of the flex sensor filter response using constant dynamic.1: The components of the glove .2: The glove design in the Mechatronics project .3: Actual image of final design proposal .4: The Kinematic model of the soft glove .5: The target dimensions for glove design .6: CAD model and dimensions of the assistive glove .7: Configuration of the printed objects in Ultimaker Cura 5.1: An illustration of tendons wiring from the glove to the transmission .2: String-tension mechanism using spring elastic force .3: The design of a string-tension mechanism in the Mechatronics project .4: Drive diagram of the transmission mechanism .5: An illustration of when the system is pulling the fingers.6: The 3D design of the transmission mechanism.7: Decomposed 3D drawing of the mechanism .8: JGB37-520 DC motor dimensions .9: Dimensions of JGB37 motor holder.10: 6mm - 6mm flexible coupling dimensions .11: 30-teeth cylindrical gear, with 6mm shaft diameter.12: 30-teeth cylindrical gear, with 6mm shaft diameter .13: 30mm male-female head copper hex shaft, M3 thread diameter .14: 30mm female-female head copper hex shaft, M3 thread diameter .15: 625Z ball bearing dimensions .16: 608ZZ ball bearing dimensions .17: 6mm steel shafts for the main and feeding coils .18: 5mm steel shaft for idling wheels .19: The side wall of the mechanism .20: The guiding-head mounting wall’s dimensions .21: The mechanism base .22: The main coil’s outer shell.23: The feeding coil’s outer shell .24: Dimensions of the idling wheel’s outer shell .25: The dimensions of dling wheels’ shaft stopper.26: Printing setup of parts including idling wheel outer shells and their shaft stopper on the Ultimaker Cura application.27: Printing setup of parts including the main and feeding coil outer shells on the Ultimaker Cura application.28: The assembled mechanism .29: The illustration for the manual coil winding of step 2, 3 and 4.1: Block diagram overview of the control system .2: Schematic diagram of the user input block .3: Indicator Block and Flex Sensor Block.4: Motor and Motor Driver Blocks.5: The H-bridge circuit using IC TB6612FNG .6: The main controller block .7: The power supply block .8: STMCubeMonitor's block organization that the authors have set up .9: The project’s data monitoring window .11: Filter at 10Hz cutoff frequency .12: Filter at 5Hz cutoff frequency .5Hz cutoff frequency .95Hz cutoff frequency .15: Kalman filter result with rn = 202.