Proceedings ArticleDOI
Towards a soft pneumatic glove for hand rehabilitation
Panagiotis Polygerinos,Stacey Lyne,Zheng Wang,Luis Fernando Nicolini,Bobak Mosadegh,George M. Whitesides,Conor J. Walsh +6 more
- pp 1512-1517
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TLDR
Preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology and the integration of the actuators to it are described, followed by a qualitative evaluation study.Abstract:
This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motion. Bending curvature and force response of these actuators are investigated using geometrical analysis and a finite element model (FEM) prior to fabrication. The fabrication procedure of the chosen actuator is described followed by a series of experiments that mechanically characterize the actuators. The experimental data is compared to results obtained from FEM simulations showing good agreement. Finally, an open-palm glove design and the integration of the actuators to it are described, followed by a qualitative evaluation study.read more
Citations
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Journal ArticleDOI
A soft pneumatic dexterous gripper with convertible grasping modes
TL;DR: A novel soft pneumatic dexterous gripper that consists of four soft fingers and a movable sucker that can grasp a wide range of objects due to the proposed conversion mechanism is proposed.
Journal ArticleDOI
Learning Closed Loop Kinematic Controllers for Continuum Manipulators in Unstructured Environments
George ThuruthelThomas,FaloticoEgidio,MantiMariangela,PratesiAndrea,CianchettiMatteo,LaschiCecilia +5 more
TL;DR: A model-free approach for closed loop kinematic control of continuum manipulators in the task space, requiring minimal sensor elements and involving few open parameters for tuning, which is very well suited for nonlinear stochastic continuum robots.
Proceedings ArticleDOI
Soft pneumatic gelatin actuator for edible robotics
TL;DR: In this article, a fully edible pneumatic actuator based on gelatin-glycerol material is presented, which exhibits a bending angle of 170.3 ° and a blocked force of 0.34 N at the applied pressure of 25 kPa.
Journal ArticleDOI
SCRIPT passive orthosis: design of interactive hand and wrist exoskeleton for rehabilitation at home after stroke
TL;DR: An interactive hand and wrist orthosis for post-stroke rehabilitation that provides compliant and adaptable extension assistance at the wrist and fingers, interfaces with motivational games based on activities of daily living, is integrated with an off-the-shelf mobile arm support and includes novel wrist and finger actuation mechanisms is developed.
Journal ArticleDOI
Design, Modeling, and Testing of a Soft Pneumatic Glove With Segmented PneuNets Bending Actuators
TL;DR: The design, modeling, and testing of a soft pneumatic glove with five segmented PneuNets bending actuators (SPBAs) made of elastomer, each actuator driving the corresponding finger to bend indicates its potential in hand rehabilitation.
References
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Journal Article
Robot-based hand motor therapy after stroke
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Proceedings ArticleDOI
McKibben artificial muscles: pneumatic actuators with biomechanical intelligence
TL;DR: The design of a hydraulic damper with fixed orifices, placed in parallel with the McKibben actuator, is proposed to improve the force-velocity performance and simulation results indicate a significant improvement.