Towards a soft pneumatic glove for hand rehabilitation

Panagiotis Polygerinos, Stacey Lyne, Zheng Wang, Luis Fernando Nicolini, Bobak Mosadegh, George M. Whitesides, Conor J. Walsh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

179 Citations (Scopus)

Abstract

This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motion. Bending curvature and force response of these actuators are investigated using geometrical analysis and a finite element model (FEM) prior to fabrication. The fabrication procedure of the chosen actuator is described followed by a series of experiments that mechanically characterize the actuators. The experimental data is compared to results obtained from FEM simulations showing good agreement. Finally, an open-palm glove design and the integration of the actuators to it are described, followed by a qualitative evaluation study.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1512-1517
Number of pages6
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

Fingerprint

Patient rehabilitation
Pneumatics
Actuators
Fabrication
End effectors
Robotics
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Polygerinos, P., Lyne, S., Wang, Z., Nicolini, L. F., Mosadegh, B., Whitesides, G. M., & Walsh, C. J. (2013). Towards a soft pneumatic glove for hand rehabilitation. In IEEE International Conference on Intelligent Robots and Systems (pp. 1512-1517). [6696549] https://doi.org/10.1109/IROS.2013.6696549

Towards a soft pneumatic glove for hand rehabilitation. / Polygerinos, Panagiotis; Lyne, Stacey; Wang, Zheng; Nicolini, Luis Fernando; Mosadegh, Bobak; Whitesides, George M.; Walsh, Conor J.

IEEE International Conference on Intelligent Robots and Systems. 2013. p. 1512-1517 6696549.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Polygerinos, P, Lyne, S, Wang, Z, Nicolini, LF, Mosadegh, B, Whitesides, GM & Walsh, CJ 2013, Towards a soft pneumatic glove for hand rehabilitation. in IEEE International Conference on Intelligent Robots and Systems., 6696549, pp. 1512-1517, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 11/3/13. https://doi.org/10.1109/IROS.2013.6696549
Polygerinos P, Lyne S, Wang Z, Nicolini LF, Mosadegh B, Whitesides GM et al. Towards a soft pneumatic glove for hand rehabilitation. In IEEE International Conference on Intelligent Robots and Systems. 2013. p. 1512-1517. 6696549 https://doi.org/10.1109/IROS.2013.6696549
Polygerinos, Panagiotis ; Lyne, Stacey ; Wang, Zheng ; Nicolini, Luis Fernando ; Mosadegh, Bobak ; Whitesides, George M. ; Walsh, Conor J. / Towards a soft pneumatic glove for hand rehabilitation. IEEE International Conference on Intelligent Robots and Systems. 2013. pp. 1512-1517
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