Remote control of hand actuators via glove sensors for medical care applications

Taherkhani, B and Bodaghi, M ORCID: https://orcid.org/0000-0002-0707-944X, 2025. Remote control of hand actuators via glove sensors for medical care applications. Advanced Robotics Research: e2400029. ISSN 2943-9973

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Abstract

Early diagnosis of psychomotor diseases such as Parkinson's requires timely and effective medical care, which is often expensive and resource-intensive. This study proposes a remote-control system for assisting medical care related to hand movement. Human hand motion is captured using a comfortable, wearable sensory glove, while actuation is achieved via a fabric-based pneumatic system that drives finger bending. Finite element modeling is conducted to examine how the ratio of the stiff to soft sheet's Young's modulus affects actuator performance, showing that increased ratios lead to greater bending angles. A machine learning model is developed to relate finger angle to actuator pressure. For remote operation, data from the glove are transmitted—physically or virtually—to a separate system, where a medical professional controls the actuator using MATLAB-based algorithms. This teleoperation method for healthcare is relatively unexplored in current literature. In addition to medical applications such as rehabilitation or Parkinson's monitoring, the system offers the potential for reducing human risk in hazardous settings—such as operating heavy industrial machinery, handling high-risk lab chemicals, or performing maintenance in contaminated environments.

Item Type:	Journal article
Publication Title:	Advanced Robotics Research
Creators:	Taherkhani, B. and Bodaghi, M.
Publisher:	Wiley
Date:	16 May 2025
ISSN:	2943-9973
Identifiers:	Number Type 10.1002/adrr.202400029 DOI 2444091 Other
Rights:	© 2025 the author(s). Advanced Robotics Research published by Wiley-VCH GmbH. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
Divisions:	Schools > School of Science and Technology
Record created by:	Jonathan Gallacher
Date Added:	28 May 2025 12:59
Last Modified:	28 May 2025 12:59
URI:	https://irep.ntu.ac.uk/id/eprint/53657

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