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

    220 Scopus citations

    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 publicationIROS 2013
    Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Pages1512-1517
    Number of pages6
    DOIs
    StatePublished - Dec 1 2013
    Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
    Duration: Nov 3 2013Nov 8 2013

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Other

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

    ASJC Scopus subject areas

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

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  • 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 IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1512-1517). [6696549] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696549