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

96 Citations (Scopus)

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 publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2913-2919
Number of pages7
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

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

Fingerprint

End effectors
Patient rehabilitation
Robotics
Actuators
Biomechanics
Pressurization
Pathology
Fiber reinforced materials
Trajectories
Fluids

ASJC Scopus subject areas

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

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 proceedingConference 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
Polygerinos P, Galloway KC, Savage E, Herman M, O'Donnell K, Walsh CJ. Soft robotic glove for hand rehabilitation and task specific training. In Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2015-June. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2913-2919. 7139597 https://doi.org/10.1109/ICRA.2015.7139597
Polygerinos, Panagiotis ; Galloway, Kevin C. ; Savage, Emily ; Herman, Maxwell ; O'Donnell, Kathleen ; Walsh, Conor J. / Soft robotic glove for hand rehabilitation and task specific training. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2913-2919
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