Soft Robotic Glove for Hand Assistance

Contributors

Soft Robotic Glove

This work presents a portable, soft robotic glove designed to augment hand rehabilitation and/or offer assistance to individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. User intent (i.e. desire to close or open hand) is detected by monitoring gross muscle activation signals with surface electromyography electrodes mounted on the user’s forearm.

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