Development of an electrooculogram-activated wearable soft hand exoskeleton

Talha Shahid, Darwin Gouwanda, Surya G. Nurzaman, Alpha A. Gopalai, Teh Kok Kheng

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

5 Citations (Scopus)


Soft hand exoskeleton is one of the technological alternatives for patients with hand paralysis. Several designs had been proposed to assist these patients to improve their quality of life. However, some of them are heavy and bulky and are not suitable for daily use. This work proposes a lightweight soft hand exoskeleton that can be activated using Electrooculogram (EOG). It has an under-actuated mechanism and 3D printed parts with cable routed around the glove and weighs 110 g. A control strategy was developed so that the wearer can blink their eyes to flex and extend the fingers. A series of experiments was conducted to evaluate its efficacy in performing basic gripping and grasping. The exoskeleton has the ability to grip and grasp objects with different shapes and sizes. It is hoped that the integration of EOG and soft hand exoskeleton can provide a new and unique way of rehabilitating the patient's hand and assisting him/her in various activities of daily living (ADL).

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE EMBS Conference on Biomedical Engineering and Sciences, IECBES 2020
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781728142456
Publication statusPublished - 1 Mar 2021
EventIEEE-EMBS International Conference on Biomedical Engineering and Sciences (IECBES) 2020 - Virtual, Langkawi Island, Malaysia
Duration: 1 Mar 20213 Mar 2021 (Proceedings)


ConferenceIEEE-EMBS International Conference on Biomedical Engineering and Sciences (IECBES) 2020
Abbreviated titleICEBES 2020
CityVirtual, Langkawi Island
Internet address


  • assistive robot
  • hand exoskeleton
  • hand rehabilitation
  • wearable soft glove

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