Assessment of a hand exoskeleton control strategy based on user’s intentions classification starting from surface EMG signals

Among the most challenging aspects of the current bio-robotics trends, a place of honor is certainly reserved to the assistance to physically impaired people during the Activities of Daily Living (ADLs). The aim of this work is to assess the interaction between an assistive hand exoskeleton, controlled through surface ElectroMyoGraphy (sEMG) signals, and its user. A new control strategy, which focuses mainly on the wearability and the usability of the system, is presented. Promising results of two preliminary tests, conducted in collaboration with the “Don Carlo Gnocchi” Foundation, are also reported. This work has been supported by the HOLD Project, funded by the University of Florence. The authors would also like to thank the Don Carlo Gnocchi Foundation for the help.