TY - GEN
T1 - Soft robotic glove for hand rehabilitation and task specific training
AU - Polygerinos, Panagiotis
AU - Galloway, Kevin C.
AU - Savage, Emily
AU - Herman, Maxwell
AU - O'Donnell, Kathleen
AU - Walsh, Conor J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - 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 particular, we present a method for customizing a soft actuator to a wearer's biomechanics and demonstrate in a motion capture system that the ranges of motion (ROM) of the two are nearly equivalent. The active ROM of the glove is further evaluated using the Kapandji test. Lastly, in a case study, we present preliminary results of a patient with very weak hand strength performing a timed Box-and-Block test with and without the soft robotic glove.
AB - 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 particular, we present a method for customizing a soft actuator to a wearer's biomechanics and demonstrate in a motion capture system that the ranges of motion (ROM) of the two are nearly equivalent. The active ROM of the glove is further evaluated using the Kapandji test. Lastly, in a case study, we present preliminary results of a patient with very weak hand strength performing a timed Box-and-Block test with and without the soft robotic glove.
UR - http://www.scopus.com/inward/record.url?scp=84938269570&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2015.7139597
DO - 10.1109/ICRA.2015.7139597
M3 - Conference contribution
AN - SCOPUS:84938269570
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2913
EP - 2919
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -