Joint angle control of a cable-actuated soft hand exoskeleton

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

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


Many exoskeleton systems use a cable-pulley mechanism for actuation for complex hand grips. This paper discusses a trajectory control of a finger using a mathematical model. The soft glove is designed based on the conceptual framework of a natural skeletal finger. A two-link mechanism forms the kinematic model of the finger joints and soft actuators. The design has a natural claw-like position for distal and middle phalanges during flexion. The cable passes through specially designed pulleys and anchors. An experiment is conducted to validate the controller model in predicting the finger position. A flex sensor measures the actual joint angle during flexion. The results indicate that the model is accurate in attaining the desired angular displacement. The controller is more accurate for lower joint angles of the finger. The model demonstrates potential in Continuous Passive Movement (CPM), task training exercises, and rehabilitation applications.

Original languageEnglish
Title of host publication2021 International Conference on Robotics and Automation in Industry, ICRAI 2021
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISBN (Electronic)9781665423434
Publication statusPublished - 2021
EventInternational Conference on Robotics and Automation in Industry (ICRAI) 2021 - Rawalpindi, Pakistan
Duration: 26 Oct 202127 Oct 2021
Conference number: 4th (Proceedings)


ConferenceInternational Conference on Robotics and Automation in Industry (ICRAI) 2021
Abbreviated titleICRAI 2021
Internet address


  • Cable-pulley mechanism
  • Hand exoskeleton
  • Rehabilitation
  • Soft robotics

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