A soft robotic glove for hand motion assistance

Juan Yi, Zhong Shen, Chaoyang Song, Zheng Wang

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch

18 Citations (Scopus)

Abstract

Soft robotic devices have the potential to be widely used in daily lives for their inherent compliance and adaptability, which result in high safety under unexpected situations. System complexity and requirements are much lower, comparing with conventional rigid-bodied robotic devices, which also result in significantly lower costs. This paper presents a robotic glove by utilizing soft artificial muscles providing redundant degrees of freedom (DOFs) to generate both flexion and extension hand motions for daily grasping and manipulation tasks. Different with the existing devices, to minimize the weight applied to the user's hands, pneumatic soft actuators were located on the fore arm and drive each finger via cable-transmission mechanisms. This actuation mechanism brings extra adaptability, motion smoothness, and user safety to the system. This design makes wearable robotic gloves more light-weight and user-friendly. Both theoretical and experimental analyses were conducted to explore the mechanical properties of pneumatic soft actuators. In addition, the fingertip trajectories were analyzed using Finite Element Methods, and a series of experiments were conducted evaluating both the technical and practical performances of the proposed glove.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Real-time Computing and Robotics (RCAR 2016)
Subtitle of host publicationAngkor Wat, Cambodia, 6 – 10 June, 2016
EditorsMing Liu
Place of PublicationPiscataway, NJ
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages111-116
Number of pages6
ISBN (Electronic)9781467389594
ISBN (Print)9781467389600
DOIs
Publication statusPublished - 14 Dec 2016
Event2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 - Siem Reap, Cambodia
Duration: 6 Jun 20169 Jun 2016

Conference

Conference2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016
CountryCambodia
CitySiem Reap
Period6/06/169/06/16

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