A lobster-inspired robotic glove for hand rehabilitation

Yaohui Chen, Sing Le, Qiao Chu Tan, Oscar Lau, Fang Wan, Chaoyang Song

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15 Citations (Scopus)


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 generation, as well as the emerging soft robotics with light-weight, physically safe, and adaptive actuation. The fabrication procedure is described, followed by experiments to mechanically characterize these actuators. Finally, an open-palm glove design integrated with these hybrid actuators are presented for a qualitative case study. A hand rehabilitation system is developed by learning patterns of the sEMG signals from the users forearm to train the assistive glove for hand rehabilitation exercises.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Automation (ICRA 2017)
Subtitle of host publicationMay 29 - June 3, 2017; Marina Bay Sands Convention Centre, Singapore
Place of PublicationDanvers, MA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509046331
ISBN (Print)9781509046348
Publication statusPublished - 21 Jul 2017
EventIEEE International Conference on Robotics and Automation 2017 - Sands Expo and Convention Centre, Singapore, Singapore
Duration: 29 May 20173 Jun 2017
https://ieeexplore.ieee.org/xpl/conhome/7960754/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 2017
Abbreviated titleICRA 2017
Internet address


  • Biologically-Inspired Robots
  • Biomimetics
  • Rehabilitation Robotics

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