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Design and Preliminary Feasibility Study of a Soft Robotic Glove for Hand Function Assistance in Stroke Survivors

Published on Oct 9, 2017in Frontiers in Neuroscience 3.65
· DOI :10.3389/fnins.2017.00547
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)
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Abstract
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 actuators are made of silicone rubber which has an elastic modulus similar to human tissues. Thus, they are intrinsically soft and compliant. Upon air pressurization, they are able to support finger range of motion and generate the desired actuation of the finger joints. In this work, the soft actuators were characterized in terms of their blocked tip force, normal and frictional grip force outputs. Combining the soft actuators and flexible textile materials, a soft robotic glove was developed for grasping assistance during activities of daily living for stroke survivors. The glove was evaluated on five healthy participants for its assisted range of motion and grip strength. Pilot test was performed in two stroke survivors to evaluate the efficacy of the glove in assisting functional grasping activities. Our results demonstrated that the actuators designed in this study could generate desired force output at a low air pressure. The glove had a high kinematic transparency and did not affect the active range of motion of the finger joints when it was being worn by the participants. With the assistance of the glove, the participants were able to perform grasping actions with sufficient assisted-range of motion and grip strength, without any voluntary effort. Additionally, pilot test on stroke survivors demonstrated that the patient’s grasping performance improved with the presence and assistance of the glove. Patient feedback questionnaires also showed high level of patient satisfaction and comfort. In conclusion, this paper has demonstrated the possibility of using soft wearable exoskeletons that are more wearable, lightweight and suitable to be used on a daily basis for hand function assistance of stroke survivors during activities of daily living.
  • References (61)
  • Citations (6)
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References61
Newest
Published on Jul 1, 2017 in ICRA (International Conference on Robotics and Automation)
Sung-Sik Yun1
Estimated H-index: 1
(SNU: Seoul National University),
Brian Byunghyun Kang6
Estimated H-index: 6
(SNU: Seoul National University),
Kyu-Jin Cho23
Estimated H-index: 23
(SNU: Seoul National University)
Customization is an important issue for assistive gloves because it affects glove performance. In this letter, we propose an assembly based customizable soft pneumatic assistive glove, named Exo-Glove PM. Pneumatic soft robots generally consist of a single structure with embedded actuators. However, when assembled, the region where the assemblies are connected easily undergoes large stress concentration that leads to failure. To overcome this issue, we have developed a hybrid actuator module tha...
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...
Published on May 1, 2017 in ICRA (International Conference on Robotics and Automation)
Yaohui Chen1
Estimated H-index: 1
(Monash University, Clayton campus),
Sing Le1
Estimated H-index: 1
(Monash University, Clayton campus)
+ 3 AuthorsChaoyang Song5
Estimated H-index: 5
(Monash University, Clayton campus)
This paper presents preliminary results of the design, development, and evaluation of a hand rehabilitation glove fabricated using lobster-inspired hybrid design with rigid and soft components for actuation. Inspired by the bending abdomen of lobsters, hybrid actuators are built with serially jointed rigid shells actuated by pressurized soft chambers inside to generate bending motions. Such bio-inspiration absorbs features from the classical rigid-bodied robotics with preciselydefined motion gen...
Published on Apr 1, 2017in IEEE-ASME Transactions on Mechatronics 4.94
Zheng Wang13
Estimated H-index: 13
(HKU: University of Hong Kong),
Panagiotis Polygerinos16
Estimated H-index: 16
(ASU: Arizona State University)
+ 3 AuthorsConor J. Walsh31
Estimated H-index: 31
(Harvard University)
Soft-bending actuators are inherently compliant, compact, and lightweight. They are preferable candidates over rigid actuators for robotic applications ranging from physical human interaction to delicate object manipulation. However, characterizing and predicting their behaviors are challenging due to the material nonlinearities and the complex motions they can produce. This paper investigates a soft-bending actuator design that uses a single air chamber and fiber reinforcements. Additionally, t...
Kelly O. Thielbar4
Estimated H-index: 4
(Rehabilitation Institute of Chicago),
Kristen M. Triandafilou7
Estimated H-index: 7
(Rehabilitation Institute of Chicago)
+ 5 AuthorsDerek G. Kamper29
Estimated H-index: 29
(IIT: Illinois Institute of Technology)
Many mechatronic devices exist to facilitate hand rehabilitation, however few directly address deficits in muscle activation patterns while also enabling functional task practice. We developed an innovative voice and electromyography-driven actuated (VAEDA) glove, which is sufficiently flexible/portable for incorporation into hand-focused therapy post-stroke. The therapeutic benefits of this device were examined in a longitudinal intervention study. Twenty-two participants with chronic, moderate...
Published on Jan 1, 2017
Hyunki In7
Estimated H-index: 7
(SNU: Seoul National University),
Brian Byunghyun Kang6
Estimated H-index: 6
(SNU: Seoul National University),
Kyu-Jin Cho23
Estimated H-index: 23
(SNU: Seoul National University)
Exo-Glove is a soft wearable robotic hand to assist hand function of people who have paralysis of the hands. Exo-Glove is compactly structured with soft fabrics and adapts an under-actuation concept. Pinch performance is defined, and the variation of the pinching performance with Exo-Glove with respect to the tendon route design is shown through an experiment. A subject with spinal cord injury participated in the experiment. As shown by the experimental result, Exo-Glove provides adequate pinchi...
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)
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 eval...
Published on Jun 28, 2016
Ili Najaa Aimi Mohd Nordin4
Estimated H-index: 4
(UTM: Universiti Teknologi Malaysia),
Ahmad Athif Mohd Faudzi10
Estimated H-index: 10
(UTM: Universiti Teknologi Malaysia)
+ 3 AuthorsMuhammad Rusydi Muhammad Razif4
Estimated H-index: 4
(UTM: Universiti Teknologi Malaysia)
Over recent years, the reseach in the field of soft actuation has been extensively increased for achieving more complex motion path with smooth, high flexible movement and high generated force at minimum operating pressure. This paper presents the study on gripping force capability of soft actuators applied on glove-type finger exoskeleton, developed in motivation to assist individuals having weak finger gripping ability in their rehabilitation exercise towards hand function restoration. The exo...
Published on Jun 1, 2016
Mahdi Haghshenas-Jaryani5
Estimated H-index: 5
(UTA: University of Texas at Arlington),
Wei Carrigan2
Estimated H-index: 2
(UTA: University of Texas at Arlington)
+ 1 AuthorsMuthu B. J. Wijesundara4
Estimated H-index: 4
(UTA: University of Texas at Arlington)
This paper presents the design and development of a sensorized soft robotic glove based on pneumatic soft-and-rigid hybrid actuators for providing continuous passive motion (CPM) in hand rehabilitation. This hybrid actuator is comprised of bellow-type soft actuator sections connected through block-shaped semi-rigid sections to form robotic digits. The actuators were designed to satisfy the anatomical range of motion for each joint. Each digit was sensorized at the tip with an inertial measuremen...
Published on Jun 1, 2016
Michele Xiloyannis4
Estimated H-index: 4
(NTU: Nanyang Technological University),
Leonardo Cappello7
Estimated H-index: 7
(IIT: Istituto Italiano di Tecnologia)
+ 2 AuthorsLorenzo Masia16
Estimated H-index: 16
(NTU: Nanyang Technological University)
The need for a means of assistance in human grasping, to compensate for weakness or to augment performance, is well documented. An appealing new way of doing so is through soft, wearable robots that work in parallel with the human muscles. In this paper we present the design and modelling of a tendon-driving unit that empowers a wearable, soft glove. Being portability one of our main objectives, we use only 1 motor to move 8 degrees of freedom of the hand. To achieve this we use an underactuatio...
Cited By6
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.
Aaron Yurkewich (U of T: University of Toronto), Debbie Hebert12
Estimated H-index: 12
+ 1 AuthorsAlex Mihailidis28
Estimated H-index: 28
(U of T: University of Toronto)
The hand extension robot orthosis (HERO) glove was iteratively designed with occupational therapists and stroke survivors to enable stroke survivors with severe hand impairment to grasp and stabilize everyday objects, while being portable, lightweight, and easy to set up and use. The robot consists of a batting glove with artificial tendons embedded into the glove’s fingers. The tendons are pulled and pushed by a linear actuator to extend and flex the fingers. The robot’s finger extension and gr...
Published on Apr 1, 2019 in ICRA (International Conference on Robotics and Automation)
Lucas Gerez (University of Auckland), Junan Chen (University of Auckland), Minas V. Liarokapis (University of Auckland)
Soft, underactuated, and compliant robotic exo-gloves have received an increased interest over the last decade. Possible applications of these systems range from augmenting the capabilities of healthy individuals to restoring the mobility of people that suffer from paralysis or stroke. Despite the significant progress in the field, most existing solutions are still heavy and expensive, they require an external power source to operate, and they are not wearable. In this letter, we focus on the de...
Zhiyong Zhou (ECUST: East China University of Science and Technology), Jianxin Cheng (ECUST: East China University of Science and Technology)+ 1 AuthorsLai-Chung Lee1
Estimated H-index: 1
(NTUT: National Taipei University of Technology)
The study is to innovate an evaluation model of medical nursing bed and verify indicators by triangulation of subjective feelings, eye movement and electroencephalography (EEG). The underlying theory is Kansei Engineering that is the technology to measure and transform consumers’ perceptions of products into design elements. Kansei Engineering comprises external physiological sensory measurement and intrinsic psychological susceptibility measurement. The evaluation of medical nursing bed should ...
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...
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 Nov 1, 2018
Husamuldeen Khalid Hameed (UPM: Universiti Putra Malaysia), Wan Zuha Wan Hassan1
Estimated H-index: 1
(UPM: Universiti Putra Malaysia)
+ 2 AuthorsHaslina Jaafar5
Estimated H-index: 5
(UPM: Universiti Putra Malaysia)
Arthritis, Parkinson's disease, Cerebral Palsy, natural aging and stroke are the main causes of arm impairment for an increasing part of the population. For instance, stroke affects 15 million people annually in the world causing upper limb disability, also about 78 million arthritis cases with grasping impairment are expected yearly in US by the year of 2040. Therefore, hand robotic devices can be essential tools to help individuals afflicted with hand deficit to perform activities of daily liv...
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 Jun 18, 2018in Actuators
Tapio V. J. Tarvainen2
Estimated H-index: 2
,
Jacobo Fernandez-Vargas2
Estimated H-index: 2
,
Wenwei Yu15
Estimated H-index: 15
Fiber-reinforced fluid-driven elastomer actuators have enabled the production of simple, low-cost and safe hand rehabilitation devices. However, so far, the actuators support only finger flexion-extension, and little has been reported on abduction-adduction, which is essential for manipulation tasks and grasping larger objects. The technical design difficulty of realizing abduction-adduction lies in the suppression of interference effects between the metacarpophalangeal (MCP) joint’s two orthogo...