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

186 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	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2913-2919
Number of pages	7
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139597
State	Published - Jun 29 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	5/26/15 → 5/30/15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7139597

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 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 2913-2919). [7139597] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). 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 et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2913-2919 7139597 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

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 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139597, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, 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

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

Polygerinos, Panagiotis ; Galloway, Kevin C. ; Savage, Emily et al. / Soft robotic glove for hand rehabilitation and task specific training. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2913-2919 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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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.",

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Soft robotic glove for hand rehabilitation and task specific training

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