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A Fully Fabric-Based Bidirectional Soft Robotic Glove for Assistance and Rehabilitation of Hand Impaired Patients

Published on Jul 1, 2017 in ICRA (International Conference on Robotics and Automation)
· DOI :10.1109/LRA.2017.2669366
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Phone May Khin3
Estimated H-index: 3
(NUS: National University of Singapore)
+ 4 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
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Abstract
This letter presents a fully fabric-based bidirectional soft robotic glove designed to assist hand impaired patients in rehabilitation exercises and performing activities of daily living. The glove provides both active finger flexion and extension for hand assistance and rehabilitative training, through its embedded fabric-based actuators that are fabricated by heat press and ultrasonic welding of flexible thermoplastic polyurethane-coated fabrics. Compared to previous developed elastomeric-based actuators, the actuators are able to achieve smaller bend radius and generate sufficient force and torque to assist in both finger flexion and extension at lower air pressure. In this letter, experiments were conducted to characterize the performances of the glove in terms of its kinematic and grip strength assistances on five healthy participants. Additionally, we present a graphical-user interface that allows user to choose the desired rehabilitation exercises and control modes, which include button-controlled-assistive mode, cyclic movement training, intention-driven task-specific training, and bilateral rehabilitation training.
  • References (29)
  • Citations (7)
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References29
Newest
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Nazir Kamaldin4
Estimated H-index: 4
(NUS: National University of Singapore)
+ 3 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
In this paper, we present the design, fabrication and evaluation of a soft wearable robotic glove, which can be used with functional Magnetic Resonance imaging (fMRI) during the hand rehabilitation and task specific training. The soft wearable robotic glove, called MR-Glove, consists of two major components: a) a set of soft pneumatic actuators and b) a glove. The soft pneumatic actuators, which are made of silicone elastomers, generate bending motion and actuate finger joints upon pressurizatio...
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 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
Various hand exoskeletons have been proposed for the purposes of providing assistance in activities of daily living and rehabilitation exercises. However, traditional exoskeletons are made of rigid components that impede the natural movement of joints and cause discomfort to the user. This paper evaluated a soft wearable exoskeleton using soft elastomeric actuators. The actuators could generate the desired actuation of the finger joints with a simple design. The actuators were characterised in t...
Published on May 1, 2016 in ICRA (International Conference on Robotics and Automation)
Brian Byunghyun Kang6
Estimated H-index: 6
(SNU: Seoul National University),
Haemin Lee3
Estimated H-index: 3
(SNU: Seoul National University)
+ 3 AuthorsKyu-Jin Cho23
Estimated H-index: 23
(SNU: Seoul National University)
This paper presents the development of a polymer-based tendon-driven wearable robotic hand, Exo-Glove Poly. Unlike the previously developed Exo-Glove, a fabric-based tendon-driven wearable robotic hand, Exo-Glove Poly was developed using silicone to allow for sanitization between users in multiple-user environments such as hospitals. Exo-Glove Poly was developed to use two motors, one for the thumb and the other for the index/middle finger, and an under-actuation mechanism to grasp various objec...
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...
Heidi C. Fischer11
Estimated H-index: 11
(UIC: University of Illinois at Chicago),
Kristen M. Triandafilou7
Estimated H-index: 7
(Rehabilitation Institute of Chicago)
+ 4 AuthorsDerek G. Kamper29
Estimated H-index: 29
Treatment options for stroke survivors with severe hand impairment are limited. Active task practice can be restricted by difficulty in voluntarily activating finger muscles and interference from involuntary muscle excitation. We developed a portable, actuated glove-orthosis, which could be employed to address both issues. We hypothesized that combining passive cyclical stretching (reducing motoneuronal hyperexcitability) imposed by the device with active-assisted, task-oriented training (rehabi...
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 Jun 1, 2015in IEEE Transactions on Robotics 6.48
Panagiotis Polygerinos16
Estimated H-index: 16
(Harvard University),
Zheng Wang13
Estimated H-index: 13
(HKU: University of Hong Kong)
+ 4 AuthorsConor J. Walsh31
Estimated H-index: 31
(Harvard University)
Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-stat...
Published on Jun 1, 2015in Soft robotics 6.40
NiiyamaRyuma1
Estimated H-index: 1
(UTokyo: University of Tokyo),
SunXu1
Estimated H-index: 1
(MIT: Massachusetts Institute of Technology)
+ 3 AuthorsKimSangbae1
Estimated H-index: 1
(MIT: Massachusetts Institute of Technology)
Abstract We propose pouch motors, a new family of printable soft actuators integrated with computational design. The pouch motor consists of one or more inflatable gas-tight bladders made of sheet materials. This printable actuator is designed and fabricated in a planar fashion. It allows both easy prototyping and mass fabrication of affordable robotic systems. We provide theoretical models of the actuators compared with the experimental data. The measured maximum stroke and tension of the linea...
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...
Cited By7
Newest
Published on Feb 22, 2019in Journal of Neuroengineering and Rehabilitation 3.58
Michele Xiloyannis4
Estimated H-index: 4
(UT: University of Twente),
Domenico Chiaradia2
Estimated H-index: 2
(Sant'Anna School of Advanced Studies)
+ 1 AuthorsLorenzo Masia16
Estimated H-index: 16
Background Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor impairments. Understanding how these devices affect the physiology and mechanics of human movements is fundamental for quantifying their benefits and drawbacks, assessing their suitability for different applications and guiding a continuous design refi...
Published on Dec 1, 2019in Scientific Reports 4.01
Seongjun Park10
Estimated H-index: 10
,
Cheol Hoon Park
A suit-type wearable robot (STWR) is a new type of soft wearable robot (SWR) that can be worn easily anywhere and anytime to assist the muscular strength of wearers because it can be worn like normal clothes and is comfortable to wear even with no power supply. This paper proposes an STWR, in which a shape-memory-alloy-based fabric muscle (SFM) is used as the actuator. The STWR, which weighs less than 1 kg, has a simple structure, with the following components: SFMs, wire encoders for measuring ...
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, 2019in IEEE Transactions on Robotics 6.48
Jun Zhang7
Estimated H-index: 7
(UNR: University of Nevada, Reno),
Jun Sheng3
Estimated H-index: 3
(Georgia Institute of Technology)
+ 5 AuthorsMichael C. Yip13
Estimated H-index: 13
(UCSD: University of California, San Diego)
Robotic artificial muscles are a subset of artificial muscles that are capable of producing biologically inspired motions useful for robot systems, i.e., large power-to-weight ratios, inherent compliance, and large range of motions. These actuators, ranging from shape memory alloys to dielectric elastomers, are increasingly popular for biomimetic robots as they may operate without using complex linkage designs or other cumbersome mechanisms. Recent achievements in fabrication, modeling, and cont...
Published on Apr 8, 2019in Journal of Mechanisms and Robotics 2.38
Xinquan Liang3
Estimated H-index: 3
,
Haris Cheong1
Estimated H-index: 1
+ 1 AuthorsChen-Hua Yeow15
Estimated H-index: 15
Published on Feb 15, 2019in IEEE Sensors Journal 3.08
Nicholas Cheng2
Estimated H-index: 2
(NUS: National University of Singapore),
Jin Huat Low2
Estimated H-index: 2
(NUS: National University of Singapore)
+ 2 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
This paper presents the design and the development of a novel fabric-based pneumatic sensor for sensing external bending angles and compressive contact forces. This sensor system is a soft sensor system aimed at addressing issues with the use of sensors alongside soft actuators, where the material compliance is of key importance. The principle of the sensor system is based on the detection of changes in the pressure within its mechanical component, a fabric air chamber, in response to an externa...
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
Leonardo Cappello7
Estimated H-index: 7
(Wyss Institute for Biologically Inspired Engineering),
Jan T. Meyer1
Estimated H-index: 1
(Wyss Institute for Biologically Inspired Engineering)
+ 6 AuthorsConor J. Walsh31
Estimated H-index: 31
(Wyss Institute for Biologically Inspired Engineering)
Background Spinal cord injury is a devastating condition that can dramatically impact hand motor function. Passive and active assistive devices are becoming more commonly used to enhance lost hand strength and dexterity. Soft robotics is an emerging discipline that combines the classical principles of robotics with soft materials and could provide a new class of active assistive devices. Soft robotic assistive devices enable a human-robot interaction facilitated by compliant and light-weight str...