Abstract
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.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2913-2919 |
| Number of pages | 7 |
| Volume | 2015-June |
| Edition | June |
| DOIs | |
| State | Published - Jun 29 2015 |
| Externally published | Yes |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015 |
Other
| Other | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 |
|---|---|
| Country | United States |
| City | Seattle |
| Period | 5/26/15 → 5/30/15 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Soft robotic glove for hand rehabilitation and task specific training. / Polygerinos, Panagiotis; Galloway, Kevin C.; Savage, Emily; Herman, Maxwell; O'Donnell, Kathleen; Walsh, Conor J.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2913-2919 7139597.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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.
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
UR - http://www.scopus.com/inward/citedby.url?scp=84938269570&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139597
DO - 10.1109/ICRA.2015.7139597
M3 - Conference contribution
AN - SCOPUS:84938269570
VL - 2015-June
SP - 2913
EP - 2919
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -