Soft robotic glove for combined assistance and at-home rehabilitation

Panagiotis Polygerinos, Zheng Wang, Kevin C. Galloway, Robert J. Wood, Conor J. Walsh

Research output: Contribution to journalArticle

394 Citations (Scopus)

Abstract

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 to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.

Original languageEnglish (US)
Pages (from-to)135-143
Number of pages9
JournalRobotics and Autonomous Systems
Volume73
DOIs
StatePublished - Nov 1 2015
Externally publishedYes

Fingerprint

Rehabilitation
Patient rehabilitation
Robotics
Actuator
Actuators
Hydraulic actuators
Pressure Sensor
Grasping
Pressurization
Fluidics
Pressure sensors
Pathology
End effectors
Reinforcement
Fiber reinforced materials
Gross
Hydraulics
Impedance
Closed-loop
Demonstrations

Keywords

  • Assistive
  • Portable
  • Rehabilitation
  • Soft actuators
  • Soft glove

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • Mathematics(all)

Cite this

Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J., & Walsh, C. J. (2015). Soft robotic glove for combined assistance and at-home rehabilitation. Robotics and Autonomous Systems, 73, 135-143. https://doi.org/10.1016/j.robot.2014.08.014

Soft robotic glove for combined assistance and at-home rehabilitation. / Polygerinos, Panagiotis; Wang, Zheng; Galloway, Kevin C.; Wood, Robert J.; Walsh, Conor J.

In: Robotics and Autonomous Systems, Vol. 73, 01.11.2015, p. 135-143.

Research output: Contribution to journalArticle

Polygerinos, Panagiotis ; Wang, Zheng ; Galloway, Kevin C. ; Wood, Robert J. ; Walsh, Conor J. / Soft robotic glove for combined assistance and at-home rehabilitation. In: Robotics and Autonomous Systems. 2015 ; Vol. 73. pp. 135-143.
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