Primary Research of a Multi-sensor Inspired Compliant Control of an Soft Hand Exoskeleton towards to Enhancing Active Participation based on VR System

The human hand helps to perform most of our complex and fine movements because of its complex skeletal-muscular system and rich sensory. At the same time, the complex hand system is one of the reasons why rehabilitation of hand dysfunction after stroke is tricky. Virtual reality-based rehabilitation provides a new approach to hand function rehabilitation by mapping the patient’s movements into a rich virtual reality system and providing synergistic stimulation of visual, auditory and haptic senses to improve the patient’s motivation for rehabilitation, promote brain function reorganization and accelerate hand function rehabilitation. So the synergistic approach of multiple senses is very important. In this article, we designed a visually synergistic approach to flexible exoskeleton hand control with the aim of increasing the sense of active participation. We built a model of human-machine coupled motion, combined with a target grasping gesture obtained based on a virtual reality scene, and the target gesture is executed in the virtual system while controlling the synchronized motion of the exoskeleton hand. The results show that the motion of the virtual hand predicted by the human-computer coupling model is synchronized with the motion of the exoskeleton hand.