WO2019203732A1

WO2019203732A1 - Wearable hand assistive device and system

Info

Publication number: WO2019203732A1
Application number: PCT/SG2019/050218
Authority: WO
Inventors: Hong Kai YAP; Jane Lu WANG
Original assignee: Roceso Technologies Private Ltd
Current assignee: Roceso Technologies Private Ltd
Priority date: 2018-04-20
Filing date: 2019-04-17
Publication date: 2019-10-24
Anticipated expiration: 2020-10-20

Abstract

A wearable hand assistive device is disclosed herein. In a specific embodiment, the wearable hand assistive device includes a housing with a plurality of finger inserting portions, a plurality of fluid-driven actuators inside the housing, and a fluid supplying member supplying a fluid to the fluid-driven actuators, wherein the housing is made from materials with at least two different stretch properties and the fluid-driven actuator comprising a first wall portion, a second wall portion having the same stretch properties as the first wall portion, an inner fluid bladder disposed between or integrated with the first wall portion and the second wall portion, a restraint member arranged to the second wall portion to produce a plurality of motions in response to fluid supplied to the inner fluid bladder. The inner fluid bladder has a thickness no greater than 1mm. A system for assisting and training hand movement is also disclosed.

Description

Wearable Hand Assistive Device and System

Background and Field The invention relates to a wearable hand assistive device which may be used for assistive, rehabilitation, and medical related applications.

Impairment of hand function due to diseases such as stroke, incomplete spinal cord injury, and muscular dystrophy impedes the conducting of independent quotidian activities, leading to a reduction in quality of life. To improve the quality of life, patients often undergo rehabilitation exercises, yet limitations present themselves in the form of labor intensiveness, and the requisite clinical setting. Over the past decade, technological developments in assistive device have enabled their assistance in the rehabilitative process. However, a common barrier to adoption of hand assistive devices is user acceptance. End users are primarily concerned with cost, safety and ease of use of the devices. Traditional hand assistive devices introduce their own set of problems. Their weight, rigidity, and constraint on the joints’ non-actuated degrees of freedom (DOFs) pose complications, stemming from their components; DC motor, linear actuators, and rigid linkages, to name a few. As a result, the levels of comfort and safety of patients are reduced. Thus, a challenge is to develop hand assistive devices that are comfortable, affordable and functional. The devices should not require a steep learning curve and are easy to be put on/taken off. They should be flexible enough so that they do not restrict the natural motions of a finger joint and produce a wide range of motions. Additionally, they shall be portable enough to be used both in the clinical setting and brought back home to continue daily therapy or to assist activities of daily living.

Embodiments of the present invention provide a wearable hand device and a system that addresses at least one of the drawbacks of the prior art and/or to provide the public with a useful choice. Summary

In a first aspect, there is provided a wearable hand assistive device comprising a housing provided with a plurality of finger inserting portions, a plurality of fluid- driven actuators inside the housing, and a fluid supplying member supplying a fluid to the fluid-driven actuators.

Preferably, the housing is made from materials with at least two different stretch properties and the fluid-driven actuator comprising a first wall portion, a second wall portion having the same stretch properties as the first wall portion, an inner fluid bladder disposed between or integrated with the first wall portion and the second wall portion, a restraint member arranged to the second wall portion to produce a plurality of motions in response to fluid supplied to the inner fluid bladder. The inner fluid bladder has a thickness no greater than 1mm.

Preferably, the first wall portion of the fluid-driven actuator may follow an undulating profile.

Preferably, the restraint member of the fluid-driven actuator may further comprise a first wall portion, a second wall portion having the same stretch properties as the first wall portion, and an inner fluid bladder disposed between or integrated with the first wall portion and the second wall portion. The inner fluid bladder has a thickness no greater than 1mm. The fluid-driven actuators described herein can provide a broad range of motions (e.g. bending, straightening, rigidizing, extending, twisting, and combinations thereof) and facilitate flexion or extension of at least one finger.

Preferably, the finger inserting portions of the wearable hand assistive device may further consist of anti-slip material. Preferably, the wearable hand assistive device may consist of a means for securing the fluid-driven actuator to the housing and a means for connecting the fluid-driven actuators to the fluid supplying member. In one embodiment, the fluid supplying member may be fixedly coupled to the housing.

In another embodiment, the fluid supplying member may be releasably detachable from the housing.

Preferably, the wearable hand assistive device may consist of a means for securing the housing to the fingers and hand. The means for securing the housing to the fingers and hand may further include semi-rigid or rigid members to extend the wrist or abduct the thumb.

Advantageously, the wearable hand assistive device may further comprising a plurality of electrical conducting material integrated into or added to the housing and/or the fluid-driven actuators. Advantageously, the wearable hand assistive device may further comprising a plurality of optical sensing elements integrated into or added to the housing and/or the fluid-driven actuators.

Advantageously, the wearable hand assistive device may further comprising a plurality of magnets integrated into or added to the housing and/or the fluid-driven actuators.

In a further aspect, there is provided a system for assisting and training hand movement comprising a wearable hand assistive device as defined in the first aspect; and a controller.

In one embodiment, the controller may be integrated with user interface. In another embodiment, the controller may be connected to external user interface.

Preferably, the system may comprise sensors that measure the pressure in the fluid-driven actuators. The sensors detect the pressure changes in the fluid driven actuators when user initiates finger flexion or extension and the controller activates or deactivates the wearable hand assistive device to flex or extend the fingers. Advantageously, the system may further comprise sensors that measure a feedback force applied by a finger and curvature position of the finger.

Advantageously, the system may further comprise sensors that measure biosignals such as muscle activity, brain signals, voice signals, and eye movement.

Preferably, the system may comprise means to display, collect, store, and analyze the measurements obtained through the sensors. Preferably, the system may comprise means to activate or deactivate the wearable hand assistive device by analyzing the measurements obtained through the sensors.

It should be appreciated that features relevant to one aspect may also be relevant to the other aspects.

Brief Description of the Drawings

Embodiments of the invention will be better understood and readily apparent to one of ordinary skill in the art from the following written description, by way of example only, and in conjunction with the drawings, in which: Figure 1 is a front view of a wearable hand assistive device according to a preferred embodiment;

Figure 2(a) shows the inner view of the wearable hand assistive device of Figure 1 with a fluid-driven actuator inside the housing and a fluid supplying member according to a preferred embodiment;

Figure 2(b) shows the top view of the wearable hand assistive device of Figure 1 according to a preferred embodiment;

Figure 3(a) shows the side view of an exemplary fluid-driven actuator having an inner fluid bladder and in an inactive state;

Figure 3(b) shows the side view of another exemplary fluid-driven actuator having an inner fluid bladder and in an inactive state;

Figure 4 shows the fluid-driven actuator of Figure 3(b) with the inner fluid bladder inflated so that the fluid-driven actuator is in an active state to produce a bending motion;

Figure 5 shows the fluid-driven actuator of Figure 3(b) in an active state to produce a straightening motion;

Figure 6 illustrates five fluid-driven actuators inside a housing being pressurized to flex the fingers and assist a user to grip an object;

Figure 7 illustrates a housing comprising finger inserting portions with anti- slip materials;

Figure 8 illustrates housings with openings to insert fluid-driven actuators; Figure 9 illustrates two exemplary methods to secure fluid-driven actuators inside a housing;

Figure 10 illustrates a method to connect fluid-driven actuators to a fluid supplying member;

Figure 11 illustrates an alternative method to connect fluid-driven actuators to a fluid supplying member;

Figure 12 illustrates a fluid supplying member that is fixedly coupled to a housing;

Figure 13 illustrates a fluid supplying member that is releasably detachable from a housing; Figure 14 illustrates a wrist wrap serves as an interface between the hand and a housing, the wrist wrap is being worn before the housing is attached to the wrist wrap;

Figure 15 illustrates a wrist wrap reinforced with semi-rigid member to secure and abduct the thumb;

Figure 16 illustrates a wrist splint reinforced with rigid member to abduct the thumb and extend the wrist;

Figure 17 illustrates a housing with a textile-based finger pocket serving as a finger inserting portion and a finger strap providing additional secure of the housing to the finger;

Figure 18 illustrates a housing with a semi-rigid finger thimble serving as a finger inserting portion and a finger clip-on holder providing additional secure of the housing to the finger;

Figure 19 illustrates a flexible sensor embedded at the bottom of a fluid- driven actuator;

Figure 20 illustrates a liquid-based sensor injected to the microfluidic channel of a fluid-driven actuator;

Figure 21 illustrates an optical-based sensor with waveguide embedded with a fluid-driven actuator;

Figure 22 illustrates a housing integrated directly with microfiber sensor;

Figure 23 illustrates a sensor sewn directly to a finger inserting portion of a housing;

Figure 24 illustrates a sensor integrated directly to a fluid supplying member;

Figure 25 illustrates two methods for the routing of pressure supplying tube and electrical wire bundle;

Figure 26 illustrates finger inserting portions of a housing integrated with magnets to improve precision of thumb opposition;

Figure 27 illustrates a system for assisting and training hand movement comprising a wearable hand assistive device of Figure 1 , a controller with an integrated user interface;

Figure 28 illustrates a system of Figure 27 connected to an external user interface; Figure 29 is a schematic block diagram of a controller with actuation, sensing, and communication modules arranged to control the wearable hand assistive device of Figure 1 ;

Figure 30 is a flow diagram of a general process of the controller of Figure 29 for capturing, processing, storing, and displaying measurements from various sensors and activating or deactivating the wearable hand assistive device of Figure 1 according to an embodiment of the disclosure;

Figure 31 is a flow diagram of an exemplary method to activate or deactivate the wearable hand assistive device of Figure 1 using pressure sensors;

Figure 32 is a flow diagram of an exemplary method to activate or deactivate the wearable hand assistive device of Figure 1 with machine learning algorithm using combination of pressure sensors and muscle sensors;

Detailed Description of Preferred Embodiment

Figure 1 illustrates a wearable hand assistive device 100 according to a preferred embodiment. The wearable hand assistive device includes a housing 200 with a plurality of finger inserting portions 201 , a plurality of fluid-driven actuators 202 inside the housing 200, and a fluid supplying member 203 supplying a fluid to the fluid-driven actuators. In the embodiment of Figure 1 , there are five finger inserting portions 201 , five fluid-driven actuators 202 inside the housing 200, and five optional finger securing straps 204 to further secure the fingers to the housing 200.

Figure 2(a) illustrates the side view of the wearable hand assistive device 100 with the fluid-driven actuator 202 inside the housing 200. The fluid-driven actuator 202 comprises a first wall portion 205 and a second wall portion 206 having the same stretch properties as the first wall portion 205. In the embodiment of Figure 2(b), the housing 200 is made from textiles with at least two different stretch properties 207, 208. Figure 3 illustrates different embodiments of the fluid-driven actuator 202 in an inactive state according to a preferred embodiment. The fluid-driven actuator 202 further includes an inner fluid bladder 300 disposed between the first and second wall portions 205, 206. The inner fluid bladder 300 has a thickness no greater than 1 mm and arranged to be supplied with fluid to expand or inflate the first and second wall portions 205,206. The fluid-driven actuator 202 further includes a restraint member 301 , which is generally flat and elongate, arranged to the second wall portion 206. In the embodiment of Figure 3(a), the first wall portion 205 is following an undulating profile. The second wall portion 206 is flat and elongate. The restraint member 301 follows the profile of the second wall portion 206, which is flat and elongate.

In the embodiment of Figure 3(b), the first wall portion 205 and the second wall portion 206 are following an undulating profile as formed by a number of folds 302 which formed a series of ridges 303 and grooves 304. In this embodiment, there are six folds 302 resulting in six ridges 303 and seven grooves 304. The inner fluid bladder 300 disposed between first and second wall portions 205,206 follows the undulating profile. In the embodiment of Figure 3(b), the restraint member 301 also comprises a first wall portion 305 and a second wall portion 306 having the same stretch properties as the first wall portion 305, and a secondary inner fluid bladder 307 disposed between the first and second wall portions 305, 306. The secondary inner fluid bladder 307 also has a thickness no greater than 1 mm and arranged to be supplied with fluid to expand or inflate the first and second wall portions 305, 306. In this embodiment, the restraint member 301 is secured to the grooves 304 of the first wall portion 205 and the second wall portion 206 with seven fastening members 308. Fluid, such as compressed air, can be supplied to either or both of the inner fluid bladders 300, 307 to enable the fluid-driven actuator 202 to produce a plurality of motions. Figure 4 illustrates pressured air being supplied to the inner fluid bladder 300 to inflate the first wall portion 205 and the second wall portion 206. As shown, the ridges 303 and the grooves 304 expand and unfold. Since the second wall portion 206 is bonded to the restraint member 301 , elongation on the bonded side is restricted. Therefore, the fluid-driven actuator 202 would bend towards the bonded side at the grooves 304 due to the inflation of the inner fluid bladder 300. In the embodiment of Figure 5, when the restraint member 301 is supplied with air in the secondary inner fluid bladder 307, the fluid-driven actuator 202 would produce a linear or straightening motion.

In the embodiment of Figure 4 and Figure 5, the first wall portion 205 and the second wall portion 206 of the fluid-driven actuator 202 are made from N420D nylon fabric. The inner fluid bladder 300 is made from thermoplastic polyurethane (TPU) with total thickness of 0.3mm. In this embodiment, the TPU is coated directly to the N420D nylon fabric. Figure 6 illustrates a wearable hand assistive device 100 according to preferred embodiment. The wearable hand assistive device 100 includes a housing 200 with five finger inserting portions 201 , and five fluid-driven actuators 202 (not shown) inside the housing 200. The housing 200 is made from textiles with at least two different stretch properties 207, 208. In this embodiment, the textile material 207 is more stretchable than the textile material 208. Specifically, the textile material 207 can stretch more than 2 times its original length while the textile material 208 can stretch more than 1.5 times its original length. When the fluid-driven actuators 202 bend, the textile material 207 stretches to accommodate the expansion of the ridges 303 and the grooves 304 of the fluid- driven actuators 202. The textile material 208 stretches to accommodate the expansion of the finger skin during finger flexion. The expansion of the ridges 303 and the grooves 304 of the fluid-driven actuators 202 is usually larger than the expansion of the finger skin during finger flexion. Combining both bending and straightening motions, the fluid-driven actuator 202 is able to generate flexion and extension torques to support bidirectional movements of the finger joints. In the embodiment of Figure 6, the fluid-driven actuators 202 generate flexion torque to flex the finger joints, assisting the user to grip an object 308 and extension torque to extend the finger joints, assisting the user to release an object 308.

To enhance and strengthen the grip, the finger inserting portion 201 can incorporate with anti-slip materials to increase the friction. Figure 7 illustrates different embodiments of finger inserting portion 201. In the embodiment of Figure 7(a), there is an elastic strap 400 coated with anti-slip materials (such as but not limited to, silicon rubber) sewn directly to the proximal side of the finger inserting portion 201. In the embodiment of Figure 7(b), an anti-slip component 401 (such as but not limited to, silicon rubber patch) is sewn directly to the center of the finger inserting portion 201. In the embodiment of Figure 7(c), a plurality of anti- slip materials 402 can be coated or deposited directly to the finger inserting portion 201. It should be appreciated that the anti-slip elements 400, 401 , 402 can be sewn/coated/deposited in any size to any location of the finger inserting portion 201.

Figure 8 illustrates the housing 200 made with openings 403 for insertion of fluid- driven actuator 202 (not shown) during the assembly process. In the embodiment of Figure 8(a), the opening 403 is created at the side of the housing 200. In the embodiment of Figure 8(b), the opening 403 is created at the proximal side of the housing 200. The opening can then be sealed through sewing, adhesive, Velcro, or zipper after the insertion of fluid-driven actuator 202. The fluid-driven actuator 202 is not visible from outside after the sealing process. Figure 9 illustrates two embodiments to secure the fluid-driven actuator 202 inside the housing 200. In the embodiment of Figure 9(a), string elastic 404 is used to secure the fluid-driven actuator 202 at the proximal side. In the embodiment of Figure 9(b), flat elastic 405 is used to secure the fluid-driven actuator 202 at the proximal side. Both elastics 404, 405 are sewn directly inside the housing 200. It should be appreciated that the elastics can be sewn in any configuration to any location inside the housing 200 depending on the quantity, width and length of the fluid-driven actuator 202 and the size of the housing 200. Figure 10(a) illustrates the connection between the fluid-driven actuator 202 and the fluid-supplying member 203. In this embodiment, there are five fluid-driven actuators correspond to thumb 406, index 407, middle 408, ring 409, and small 410 fingers, respectively. All five actuators are connected to a manifold 411 directly via a plurality of tubes 406. Specifically, the thumb actuator 406 is connected to the manifold 411 via a thumb connector 412 and a thumb tube set 413. A main tube set 414 is then connected from the manifold 411 to the fluid- supplying member 203. Figure 10(b) illustrates one possible embodiment using the connection described in the embodiment of Figure 10(a). In the embodiment of Figure 10(b), the thumb connector 412 and the thumb tube set 413 are integrated together with a plurality of magnetic element 415. This structure connects the thumb housing 416 to the main housing 417. The magnetic elements 415 allow docking of the thumb housing 416 to the main housing 417 when the device is not in use. The manifold 411 in this embodiment is outside of the main housing 417 and a main tube set 414 is then connected from the manifold 411 to the fluid-supplying member 203 (not shown).

Figure 11 (a) illustrates another embodiment of the connection between the fluid- driven actuator 202 and the fluid-supplying member 203. In this embodiment, there are five fluid-driven actuators correspond to thumb 406, index 407, middle 408, ring 409, and small 410 fingers, respectively. The index 407, middle 408, ring 409, and small 410 finger actuators are connected to a manifold 411 directly via a plurality of tubes 406. A main tube set 414 is then connected from the manifold 411 to the fluid-supplying member 203. The thumb actuator 406 is connected to the fluid-supplying member 203 directly via a thumb tube set 413. Figure 11(b) illustrates one possible embodiment using the connection described in the embodiment of Figure 11 (a). In the embodiment of Figure 11 (b), the thumb connector 412 and the thumb tube set 413 are separated. The thumb connector 412 connects the thumb housing 416 to the main housing 417. The manifold 411 in this embodiment is outside of the main housing 417 and a main tube set 414 is then connected from the manifold 411 to the fluid-supplying member 203. The thumb actuator 406 is connected to the fluid-supplying member 203 directly via a thumb tube set 413. Figure 12 illustrates an embodiment of the wearable hand assistive device 100 with the fluid supplying member 203 fixedly coupled to the housing 200 via the thumb tube set 413 and the main tube set 414. Examples of the fluid supplying member 203 are miniature diaphragm pump, miniature liquid pump, miniature air compressor, and C02 compressed air cylinder.

Figure 13 illustrates another embodiment of the wearable hand assistive device 100 with the fluid supplying member 500 releasably detachable from the housing 200. In the embodiment of Figure 13, there are an external tube set 501 and an external connector 502 to serve the connection between the housing 200 and the fluid supplying member 500. The thumb tube set 413 and the main tube set 414 connect to the external tube set 501 via the external connector 502. As the weight of the fluid supplying member 500 is offloaded from the housing 200, it should be appreciated that the fluid supplying member 500 can incorporate with higher power air or liquid sources such as an air compressor that are usually heavier and bulkier. The advantage of this embodiment is that a user does not need to carry the fluid supplying member 500. Figure 14 illustrates a wrist wrap 503 serving as an interface between the hand 504, the wrist 505 and the housing 200.The wrist wrap 503 is worn on the hand 504 first before the housing 200 is attached to the wrist wrap 503. As the wrist wrap 503 is a modular unit, it should be appreciated that different embodiments of the wrist wrap 503 can be used to serve as an interface between the hand 504, the wrist 505 and the housing 200, depending on the user’s hand and wrist conditions. For example, stroke patients often have spastic thumb-in-hand deformity. The thumb is clenched towards the palm direction. Figure 15 illustrates an embodiment of the wrist wrap 503 reinforced with semi-rigid member 506 to secure and abduct the thumb away from the palm direction. In the embodiment of Figure 15, the wrist wrap 503 also consists of indications (such as color indications 507, line indications 508) to indicate and suggest the position of attachment of the housing 200 (not shown). Wrist drop is another common problem that the stroke patients are facing. Due to spastic flexor muscles, the wrist is always in flexed position. Ideally the wrist should be in 30° extension instead of flexion to conduct a functional task. As a result, the patients cannot conduct functional tasks due to excessive wrist flexion. To solve this problem, Figure 16(a) illustrates a wrist splint 509 serving as an interface between the hand 504, the wrist 505 and the housing 200.The wrist splint 509 is worn on the hand 504 first before the housing 200 is attached to the wrist splint 509. The wrist splint 509 is incorporated with a rigid structure 510, which is able to extend the wrist to 30° wrist extension. In the embodiment of Figure 16(b), an additional thumb strap 511 is wrapped around the thumb and attached on the wrist splint 509. This thumb strap 511 further abducts the thumb radially to a functional“C” position for functional task.

To further secure the housing 200 to the finger, Figure 17 illustrates an optional finger strap 512 providing additional secure of the housing to the finger. In the embodiment of Figure 17, a textile-based finger pocket 513 serves as the finger inserting portion. The finger strap 512 can be separated from the housing 200 or sewn directly to the housing 200. Figure 18 illustrates another embodiment of finger inserting portion. In the embodiment of Figure 18, a semi-rigid finger thimble 514 serves as a finger inserting portion and a finger clip-on holder 515 provides additional secure of the housing 200 to the finger. The finger thimble 514 and the finger clip-on holder 515 can be made from materials such as, but not limited to, plastic or polymer. They can be sewn or glued directly to the housing 200.

The fluid-driven actuator 202 can further integrate with sensor components to allow the monitoring of different states, such as finger kinematics during hand movement, and detecting user intention, such as detecting user intention through residual movement. In the embodiment of Figure 19, fluid-driven actuator 202 is embedded with flexible sensor 600 such as, but not limited to, flex sensor, bend sensor, pressure sensor, and tactile sensor. In one application, when the fluid- driven actuator 202 bends, a flex sensor is able to measure the bend angle. The embodiment of Figure 19 illustrates the sensor 600 is embedded directly to the fluid-driven actuator 202. Typical position of the sensor 600 is at the bottom of the fluid-driven actuator 202. In the embodiment of Figure 20, liquid-based sensors with conductive fluid 601 is injected to the microfluidic channel (not shown) of the fluid-driven actuator 202 to monitor states such as strain, pressure, tactile, and temperature. In one application, when the fluid-driven actuator 202 is activated and expanded, the resistivity of the conductive fluid 601 changes (i.e. increases), this change of resistivity allows the monitoring of the actuation. In the embodiment of Figure 21 , the fluid-driven actuator 202 is integrated with optical- based sensor with waveguide 602. The optical detection circuit 603 consists of emitter and detector. The light propagates through the waveguide 602. Wavelength changes in different states can be detected by the optical detection circuit 603 embedded in the fluid-driven actuator 202.

The housing 200 can further integrated directly with sensors. The embodiment of Figure 22 illustrates that microfiber strain sensors 604 can be woven/knitted together with the textile elements 605 of the housing 200 to detect the strain level when the housing is being stretched during finger flexion. The microfiber sensor 604 can be woven, welf knitted, and warp knitted together with the textile elements 605. The embodiment of Figure 23 illustrates another example of a pressure sensor 606 being sewn directly to the finger inserting portion 201 of the housing 200 to monitor the applied pressure during object manipulation. The sensor data can be used to detect user intention or to track the patient’s recovery progress. The electrical wires 607 from the sensor can be routed out from the housing 200 or woven/knitted together with the housing 200. The fluid supplying member 203 can further integrated directly with sensors. The embodiment of Figure 24 illustrates that an off-the-shelf sensor 608, such as inertial measurement unit sensor, is integrated directly with the fluid supplying member 203 to track hand orientation and monitor the patient’s recovery progress. With additional sensors, the routing of electrical wires or threads from the sensors and the pressure supplying tube can be complex. Figure 25 illustrates two embodiments for routing of the pressure supplying tube 609 and electrical wire bundle 610. Figure 25(a) illustrates that the electrical wire bundle 610 is routed inside the pressure supplying tube 609. Figure 25(b) illustrates that the electrical wire bundle 610 is routed/embedded parallelly with the pressure supplying tube 609. The finger inserting portion 201 of the housing 200 can further integrated with magnets to improve precision of thumb opposition. In the embodiment of Figure 26, the finger inserting portion of the thumb 611 and the middle finger 612 are embedded with magnets 613, 614. Once the thumb and the middle finger come closer, the magnet 613, 614 will attract to each other due to the magnetic field and the thumb will touch the fingertip more precisely.

Figure 27 illustrates a system for assisting and training hand movement comprising a wearable hand assistive device 100, a controller (not shown), and a user interface 700. Typically, the controller is in a form of a firmware embedded directly to a microcontroller unit (MCU). The MCU is typically assembled together with other electrical components in the form of printed circuit board assembly (PCBA) (not shown). In the embodiment of Figure 27, the PCBA, the user interface 700, a pressure supplying member (such as diaphragm pump), other pneumatic components (such as valves), and other electrical components (such as motor drivers, sensors) are assembled together in a form of a box, called command control unit 701. In the embodiment of Figure 28, the command control unit 701 can be connected to an external user interface 702. The external user interface 702 can be a form of a software or an application installed in a personal computer, a tablet, a smartphone or any mobile computing device.

Figure 29 is a schematic block diagram of a controller 703 with actuation 704, sensing 705, and communication 706 modules arranged to control the wearable hand assistive device 100 of Figure 1. On top of power management, fault handling, and event handling, the controller 703 is responsible for the central command control of the actuation 704, sensing 705, and communication 706 modules. The examples of the component in the actuation module 705 include pumps, which serve as the fluid supplying member 203, valves, and motor drivers. The examples of the component in the sensing module 705 include air pressure sensors embedded on the PCBA, IMU sensor 608 as shown in Figure 24, sensorized fluid-driven actuators as described in Figure 19, 20 ,21 , sensorized housing as described in Figure 22, 23 and other biosignal sensors such as electromyopgraphy (EMG), electroencephalograhy (EEG), and photoplethysmography (PPG) sensors. The examples of the component in the communication module include serial communication, Bluetooth, wireless LAN, and near-field communication.

Figure 30 illustrates a general process of the controller 703 of Figure 29 for capturing, processing, storing, and displaying measurements from various sensors and activating or deactivating the wearable hand assistive device of Figure 1 according to an embodiment of the disclosure. An user interface 800 allows users to input or adjust parameters to activate or deactivate the wearable hand assistive device 100. The user interface 800 sends the parameters to the command control unit 701 via the communication module 706 described in Figure 29. Apart from the user interface 100, the sensing module 705 described in Figure 29 can detect the motor intent of the user in order to allow a more intuitive method to activate or deactivate the device 100. For example, with embedded air pressure sensors, force sensors, strain/flex sensors 801 , a user’s hand residual movement and force detection module 802 can detect the residual movement and force to control the device 100. With EMG 803, a EMG residual muscle signal detection module 804 can detect the residual muscle signal to control the device 100. With EEG 805, a EEG motor imagery detection module 806 can detect the motor imagery of an user to control the device 100. With microphone or other voice sensors 807, a speech recognition module 808 can recognize different voice command to control the device 100.

Additionally, the sensing module 705 described in Figure 29 can also collect multiple data, such as hand kinematics data 809, force data 810, biosignals 811 , such as EEG, EMG, and PPG, and speech signals 812. The data can be stored

813 and used for analytics and learning 814. The user interface 100 can also provide the feedback of these data, such as proprioceptive 815, visual 816, intent detection 817, and progress 818, to the user. Machine learning algorithm 819 can be used in the data analytics and learning 814 to track patient recovery progress, classify different classes of biosignals and speech signals for user intention detection and speech recognition, and to adjust the assistance level of the device 100 automatically based on the sensor feedback.

Figure 31 describes an exemplary method to activate or deactivate the wearable hand assistive device of Figure 1 using air pressure sensors 900. The pressure sensors 900 are able to detect minor pressure changes in the fluid-driven actuators when user is trying to move 901. In the residual movement detection module 902, once the pressure value exceeds the predefined threshold 903, the module 902 will send an activation command to the controller 703. The device 100 will activate and provide additional force to the user 904.

Figure 32 describes another exemplary method to activate or deactivate the wearable hand assistive device of Figure 1 with machine learning algorithm 905 (such as, but not limited to artificial neural network ANN) using combination of pressure sensors 900 and muscle sensors 906. In the algorithm 905, multi-layer perceptron (MLP) 907 training is used to generate a model/classifier 908 for pressure and EMG data. The generated model/classifier allows real time classification 909 of the sensor data to determine and activate various device states.

Having now fully described the invention, it should be apparent to one of ordinary skill in the art that many modifications can be made hereto without departing from the scope as claimed.

Claims

1 . A wearable hand assistive device comprising

a) A housing provided with a plurality of finger inserting portions b) A plurality of fluid-driven actuators inside the housing

c) A fluid supplying member supplying a fluid to the fluid-driven actuators

Wherein the housing is made from materials with at least two different stretch properties and the fluid-driven actuator comprising a first wall portion, a second wall portion having the same stretch properties as the first wall portion, an inner fluid bladder disposed between or integrated with the first wall portion and the second wall portion, a restraint member arranged to the second wall portion to produce a plurality of motions in response to fluid supplied to the inner fluid bladder. The inner fluid bladder has a thickness no greater than 1 mm.

2. The wearable hand assistive device according to Claim 1 , wherein the first wall portion of the fluid-driven actuator is following an undulating profile.

3. The wearable hand assistive device according to Claim 1 , wherein the restraint member of the fluid-driven actuator comprising a first wall portion, a second wall portion having the same stretch properties as the first wall portion, and an inner fluid bladder disposed between or integrated with the first wall portion and the second wall portion. The inner fluid bladder has a thickness no greater than 1 mm.

4. The wearable hand assistive device according to any one of Claims 1 to 3, wherein the fluid-driven actuators, when actuated, facilitate flexion or extension of at least one finger by performing at least one of the following motions: bending, straightening, rigidizing, extending, twisting and combination thereof.

5. The wearable hand assistive device according to Claim 1 , wherein the finger inserting portions consist of anti-slip material.

6. The wearable hand assistive device according to Claim 1 , further comprising a means for securing the fluid-driven actuator to the housing.

7. The wearable hand assistive device according to Claim 1 , comprising a means for connecting the fluid-driven actuators to the fluid supplying member.

8. The wearable hand assistive device according to Claim 1 , wherein the fluid supplying member is fixedly coupled to the housing.

9. The wearable hand assistive device according to Claim 1 , wherein the fluid supplying member is releasably detachable from the housing.

10. The wearable hand assistive device according to Claim 1 , further comprising a means for securing the housing to the fingers and hand.

11. The wearable hand assistive device according to Claim 10, further comprising a means for wrist extension or thumb abduction.

12. The wearable hand assistive device according to any one of Claims 1 to 11 , further comprising a plurality of electrically conducting material integrated into or added to the housing and/or the fluid-driven actuators.

13. The wearable hand assistive device according to any one of Claims 1 to 11 , further comprising a plurality of optical sensing elements integrated into or added to the housing and/or the fluid-driven actuators.

14. The wearable hand assistive device according to any one of Claims 1 to 11 , further comprising a plurality of magnet integrated into or added to the housing and/or the fluid-driven actuators.

15. A system for assisting and training hand movement comprising

a) a wearable hand assistive device as claimed in any one of claims 1 to 14;

b) a controller

16. The system according to claim 15, wherein the controller can be integrated with user interface.

17. The system according to claim 15, wherein the controller can be connected to external user interface.

18. The system according to claim 15, further comprising sensors that measure the pressure in the fluid-driven actuators.

19. The system according to claim 18, wherein the sensors detect the pressure changes in the fluid-driven actuators when user initiates finger flexion or extension and the controller activates or deactivates the wearable hand assistive device to flex or extend the fingers.

20. The system according to claim 15, further comprising sensors that measure a feedback force applied by a finger and curvature position of the finger.

21. The system according to claim 15, further comprising sensors that measure muscle activity.

22. The system according to claim 15, further comprising sensors that measure brain signals.

23. The system according to claim 15, further comprising sensors that measure voice signals.

24. The system according to claim 15, further comprising sensors that measure eye movements.

25. The system according to any one of Claims 15 to 24, further comprising a means to display the measurements obtained through the sensors.

26. The system according to any one of Claims 15 to 24, further comprising a means to collect and store the measurements obtained through the sensors.

27. The system according to any one of Claims 15 to 24, further comprising a means to analyze the measurements obtained through the sensors.

28. The system according to any one of Claims 15 to 24, further comprising a means to activate or deactivate the wearable hand assistive device by analyzing the measurements obtained through the sensors.