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 proceedingConference contribution

    168 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 languageEnglish (US)
    Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2913-2919
    Number of pages7
    EditionJune
    ISBN (Electronic)9781479969234
    DOIs
    StatePublished - Jun 29 2015
    Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
    Duration: May 26 2015May 30 2015

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    NumberJune
    Volume2015-June
    ISSN (Print)1050-4729

    Other

    Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
    Country/TerritoryUnited States
    CitySeattle
    Period5/26/155/30/15

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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