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Design of a Soft Robotic Glove for Hand Rehabilitation of Stroke Patients With Clenched Fist Deformity Using Inflatable Plastic Actuators

Published on Aug 11, 2016in Journal of Medical Devices-transactions of The Asme 0.54
· DOI :10.1115/1.4033035
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
+ 1 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
Cite
Abstract
In this paper, we present a soft robotic glove designed to augment hand rehabilitation for stroke patients with clenched fist deformity. The robotic glove provides active finger extension for hand rehabilitative training, through its embedded inflatable actuators that are fabricated by heat bonding of flexible plastic sheets. Upon pressurization, the actuators inflate, stiffen, and extend the fingers. The actuators were embedded in the finger pockets of a glove. In this work, the device was evaluated in terms of its extension torque on a hand model, a healthy subject and a stroke patient. Preliminary results showed that the device was able to generate significant torques to provide assistance in finger extension and hand opening on both healthy and stroke participants.
  • References (26)
  • Citations (8)
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References26
Newest
Published on May 1, 2016 in ICRA (International Conference on Robotics and Automation)
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Benjamin W. K. Ang1
Estimated H-index: 1
(NUS: National University of Singapore)
+ 2 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
This paper presents a soft robotic glove designed to assist individuals with functional grasp pathologies in performing activities of daily living. The glove utilizes soft fabric-regulated pneumatic actuators that are low-profile and require lower pressure than previously developed actuators. They are able to support fingers and thumb motions during hand closure. Upon pressurization, the actuators are able to generate sufficient force to assist in hand closing and grasping during different manip...
Published on Nov 1, 2015in Robotics and Autonomous Systems 2.93
Panagiotis Polygerinos16
Estimated H-index: 16
(Harvard University),
Zheng Wang13
Estimated H-index: 13
(Harvard University)
+ 2 AuthorsConor J. Walsh31
Estimated H-index: 31
(Harvard University)
This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for 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...
Published on Aug 1, 2015
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
+ 3 AuthorsRaye Chen Hua Yeow4
Estimated H-index: 4
(NUS: National University of Singapore)
In this paper, we present the design, fabrication and preliminary evaluation of a soft robotic glove which can be used with functional Magnetic Resonance imaging (fMRI) during the hand continuous passive motion (CPM) in rehabilitation. The device comprises of two major components: a) soft pneumatic actuators and b) a glove. The soft pneumatic actuators, which are made of silicon elastomers, generate a bending motion and actuate the finger joints upon pressurization. As the device contains no fer...
Published on May 1, 2015 in ICRA (International Conference on Robotics and Automation)
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
+ 2 AuthorsRaye Chen Hua Yeow4
Estimated H-index: 4
(NUS: National University of Singapore)
In this paper, we present the design of a soft wearable exoskeleton that comprises of a glove embedded with pneumatic actuators of variable stiffness for hand assistive and rehabilitation application. The device is lightweight and easily wearable due to the usage of soft pneumatic actuators. A key feature of the device is the variable stiffness of the actuators at different localities that not only conform to the finger profile during actuation, but also provides customizability for different ha...
Published on May 1, 2015 in ICRA (International Conference on Robotics and Automation)
Panagiotis Polygerinos16
Estimated H-index: 16
(Wyss Institute for Biologically Inspired Engineering),
Kevin C. Galloway15
Estimated H-index: 15
(Wyss Institute for Biologically Inspired Engineering)
+ 3 AuthorsConor J. Walsh31
Estimated H-index: 31
(Wyss Institute for Biologically Inspired Engineering)
This paper presents advancements in the design of a portable, soft robotic glove for individuals with functional grasp pathologies. The robotic glove leverages soft material actuator technology to safely distribute forces along the length of the finger and provide active flexion and passive extension. These actuators consist of molded elastomeric bladders with anisotropic fiber reinforcements that produce specific bending, twisting, and extending trajectories upon fluid pressurization. In partic...
Published on May 1, 2015in Nature 43.07
Daniela Rus74
Estimated H-index: 74
,
Michael Thomas Tolley17
Estimated H-index: 17
Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft ...
Sang Wook Lee14
Estimated H-index: 14
(CUA: The Catholic University of America),
Katlin A. Landers2
Estimated H-index: 2
(CUA: The Catholic University of America),
Hyung-Soon Park21
Estimated H-index: 21
Significant functional impairment of the hand is common among stroke survivors and restoration of hand function should be prioritized during post-stroke rehabilitation. The goal of this study was to develop a novel biomimetic device to assist patients in producing complex hand movements with a limited number of actuators. The Biomimetic Hand Exoskeleton Device (BiomHED) is actuated by exotendons that mimic the geometry of the major tendons of the hand. Ten unimpaired subjects and four chronic st...
Published on Jan 1, 2014in Journal of Neuroengineering and Rehabilitation 3.58
Paweł Maciejasz3
Estimated H-index: 3
(University of Montpellier),
Jörg Eschweiler4
Estimated H-index: 4
(RWTH Aachen University)
+ 2 AuthorsSteffen Leonhardt30
Estimated H-index: 30
(RWTH Aachen University)
The existing shortage of therapists and caregivers assisting physically disabled individuals at home is expected to increase and become serious problem in the near future. The patient population needing physical rehabilitation of the upper extremity is also constantly increasing. Robotic devices have the potential to address this problem as noted by the results of recent research studies. However, the availability of these devices in clinical settings is limited, leaving plenty of room for impro...
Published on Jan 1, 2014in Journal of Neuroengineering and Rehabilitation 3.58
Annette A. van Kuijk6
Estimated H-index: 6
(Radboud University Nijmegen),
C.D. Bakker2
Estimated H-index: 2
(Radboud University Nijmegen)
+ 3 AuthorsJ.W. Pasman11
Estimated H-index: 11
(Radboud University Nijmegen)
Background To explore if stimulus–response (S-R) characteristics of the silent period (SP) after transcranial magnetic stimulation (TMS) are affected by changing the SP definition and by changing data presentation in healthy individuals. This information would be clinically relevant to predict motor recovery in patients with stroke using stimulus–response curves.
Published on Jan 1, 2014in Journal of Neuroengineering and Rehabilitation 3.58
Valentina Varalta7
Estimated H-index: 7
(University of Verona),
Alessandro Picelli19
Estimated H-index: 19
(University of Verona)
+ 3 AuthorsNicola Smania35
Estimated H-index: 35
(University of Verona)
Background A reduction of hemispatial neglect due to stroke has been associated with activation of the contralesional hand in the contralesional hemispace. Robot-assisted upper limb training was found to effectively improve paretic arm function in stroke patients. To date no proof of concept of robot-assisted hemispatial neglect therapy has been reported in literature. This study aimed to determine whether robot-assisted left (contralesional) hand activation alone could lead to an improvement in...
Cited By8
Newest
Yiquan Guo (NUPT: Nanjing University of Posts and Telecommunications), Fengyu Xu2
Estimated H-index: 2
(NUPT: Nanjing University of Posts and Telecommunications)
+ -3 AuthorsFanchang Meng (NUPT: Nanjing University of Posts and Telecommunications)
Traditional rigid robots exist many problems in rehabilitation training. Soft robotics is conducive to breaking the limitations of rigid robots. This paper presents a soft wearable device for the rehabilitation of hands, including soft pneumatic actuators that are embedded in the device for motion assistance. The key feature of this design is the stiffness of each actuator at different positions is different, which results in the bending posture of the actuator is more accordant with the bending...
Published on Jan 1, 2019
Several robotic rehabilitation systems have already been developed for the hand requiring the biological joints to be aligned with those of the exoskeleton making the standardization of this devices for different anthropomorphic sizes almost impossible. This problem together with the usage of rigid components can affect the natural movement of the hand and injure the user. Moreover, these systems are also typically expensive and are designed for in-clinic use as they are generally not portable.
Published on Dec 10, 2018in Journal of Mechanisms and Robotics 2.38
Jiangbei Wang (SJTU: Shanghai Jiao Tong University), Zhaoyu Liu (SJTU: Shanghai Jiao Tong University), Yanqiong Fei (SJTU: Shanghai Jiao Tong University)
Published on Dec 1, 2018in Journal of Neuroengineering and Rehabilitation 3.58
Chia-Ye Chu1
Estimated H-index: 1
(University of North Texas Health Science Center),
Rita M. Patterson32
Estimated H-index: 32
(University of North Texas Health Science Center)
Introduction The debilitating effects on hand function from a number of a neurologic disorders has given rise to the development of rehabilitative robotic devices aimed at restoring hand function in these patients. To combat the shortcomings of previous traditional robotics, soft robotics are rapidly emerging as an alternative due to their inherent safety, less complex designs, and increased potential for portability and efficacy. While several groups have begun designing devices, there are few ...
Published on Aug 1, 2018
Claudia Josephina Wilhelmina Haarman2
Estimated H-index: 2
(UT: University of Twente),
Edsko E.G. Hekman15
Estimated H-index: 15
(UT: University of Twente)
+ 1 AuthorsHerman van der Kooij34
Estimated H-index: 34
(UT: University of Twente)
This paper presents a passive hand orthosis, called EXTEND, that can be used during activities of daily living. In the design a negative stiffness spring mechanism is incorporated to overcome the high finger joint stiffness of stroke patients with hypertonia. The passive mechanism can be easily tuned by the user to compensate a linear joint stiffness of 0.15 to 0.33 Nm/rad for each finger independently. A prototype was tested with four patients showing an increased functional ability of the hand...
Published on Jul 18, 2018in Biomimetics
Talha Shahid , Darwin Gouwanda7
Estimated H-index: 7
+ 1 AuthorsAlpha Agape Gopalai6
Estimated H-index: 6
Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frame...
Published on May 1, 2018in Mechatronics 2.98
Matteo Bianchi14
Estimated H-index: 14
(UniFI: University of Florence),
Marco Cempini10
Estimated H-index: 10
(Sant'Anna School of Advanced Studies)
+ 4 AuthorsBenedetto Allotta23
Estimated H-index: 23
(UniFI: University of Florence)
Abstract Recently, the wearable robotic field has become extremely prolific in terms of active devices for human body assistance. Nevertheless, unfortunately, owing to strictly motor and sensor requirements in terms of mechanism, weight, size and dexterous manipulation capabilities, portable hand exoskeletons for rehabilitation and assistance have not been developed as much as the exoskeletons for lower and upper limbs; in fact, only a few of them present an outcome of their use in the clinical ...
Published on Apr 1, 2018
Agostino Stilli5
Estimated H-index: 5
('KCL': King's College London),
Arianna Cremoni1
Estimated H-index: 1
(UniFI: University of Florence)
+ 6 AuthorsAlthoeferKaspar30
Estimated H-index: 30
(QMUL: Queen Mary University of London)
Stroke is one of the leading causes of disability worldwide: post-stroke disabilities affect the upper and lower limbs, significantly undermining a subject's autonomy in the Activities of Daily Living (ADLs). Among post-stroke disabilities, one of the most impairing and widespread conditions is the clenched fist deformity: the subject experiences a permanent contraction of the hand, resulting in a closed hand rest pose. In this paper, the authors propose a novel light-weight inflatable soft exos...
Published on Oct 25, 2017in Frontiers in Neuroscience 3.65
Tze Hui Koh2
Estimated H-index: 2
(NUS: National University of Singapore),
Nicholas Cheng2
Estimated H-index: 2
(NUS: National University of Singapore)
+ 1 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
The provision of continuous passive, and intent-based assisted movements for neuromuscular training can be incorporated into a robotic elbow sleeve. The objective of this study is to propose the design and test the functionality of a soft robotic elbow sleeve in assisting flexion and extension of the elbow, both passively and using intent-based motion reinforcement. First, the elbow sleeve was developed, using elastomeric and fabric-based pneumatic actuators, which are soft and lightweight, in o...
Published on Oct 9, 2017in Frontiers in Neuroscience 3.65
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
+ 1 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
Various robotic exoskeletons have been proposed for hand function assistance during activities of daily living of stroke survivors. However, traditional exoskeletons involve the use of complex rigid systems that impede the natural movement of joints, and thus reduce the wearability and cause discomfort to the user. The objective of this paper is to design and evaluate a soft robotic glove that is able to provide hand function assistance using fabric-reinforced soft pneumatic actuators. These act...