Soft robotic glove for hand rehabilitation and task specific training

Panagiotis Polygerinos; Kevin C. Galloway; Emily Savage; Maxwell Herman; Kathleen O'Donnell; Conor J. Walsh

doi:10.1109/ICRA.2015.7139597

Soft robotic glove for hand rehabilitation and task specific training

Panagiotis Polygerinos, Kevin C. Galloway, Emily Savage, Maxwell Herman, Kathleen O'Donnell, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

129 Scopus citations

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	https://doi.org/10.1109/ICRA.2015.7139597
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

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7139597

Fingerprint Dive into the research topics of 'Soft robotic glove for hand rehabilitation and task specific training'. Together they form a unique fingerprint.

Cite this

Polygerinos, P., Galloway, K. C., Savage, E., Herman, M., O'Donnell, K., & Walsh, C. J. (2015). Soft robotic glove for hand rehabilitation and task specific training. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 2913-2919). [7139597] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139597

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

Polygerinos, P, Galloway, KC, Savage, E, Herman, M, O'Donnell, K & Walsh, CJ 2015, Soft robotic glove for hand rehabilitation and task specific training. in Proceedings - IEEE International Conference on Robotics and Automation. June edn, vol. 2015-June, 7139597, Institute of Electrical and Electronics Engineers Inc., pp. 2913-2919, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7139597

@inproceedings{c6aa7f7b92dc4848a49b4192f12f773c,

title = "Soft robotic glove for hand rehabilitation and task specific training",

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.",

author = "Panagiotis Polygerinos and Galloway, {Kevin C.} and Emily Savage and Maxwell Herman and Kathleen O'Donnell and Walsh, {Conor J.}",

year = "2015",

month = jun,

day = "29",

doi = "10.1109/ICRA.2015.7139597",

language = "English (US)",

volume = "2015-June",

pages = "2913--2919",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

edition = "June",

note = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

}

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.

T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Y2 - 26 May 2015 through 30 May 2015

ER -