A Wearable Soft Robot for Stroke Patients’ Finger Occupational Therapy and Quantitative Measures on the Joint Paralysis

Kim, Jihun; Lee, Geonhui; Jo, Hanjin; Park, Wookhyun; Jin, Yu; Kim, Ho Dong; Kim, Jaehyo

doi:10.1007/s12541-020-00418-5

Cited by 7 publications

(1 citation statement)

References 40 publications

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“…Soft robots can arbitrarily change their shape and size in a limited space and can well imitate biological prototypes to complete crawling, jumping, swimming, grasping, and other movement patterns [3,4]. They have the advantages of high safety in human-machine interaction, strong adaptability to unstructured environments, good maneuverability, and low maintenance costs and can meet the operational requirements in various complex and changing environments [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Zhao,

Zhang,

Yang

et al. 2024

Machines

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To meet the requirements of amphibious exploration, ocean exploration, and military reconnaissance tasks, a pneumatic amphibious soft bionic robot was developed by taking advantage of the structural characteristics, motion forms, and propulsion mechanisms of the sea lion fore-flippers, inchworms, Carangidae tails, and dolphin tails. Using silicone rubber as the main material of the robot, combined with the driving mechanism of the pneumatic soft bionic actuator, and based on the theory of mechanism design, a systematic structural design of the pneumatic amphibious soft bionic robot was carried out from the aspects of flippers, tail, head–neck, and trunk. Then, a numerical simulation algorithm was used to analyze the main executing mechanisms and their coordinated motion performance of the soft bionic robot and to verify the rationality and feasibility of the robot structure design and motion forms. With the use of rapid prototyping technology to complete the construction of the robot prototype body, based on the motion amplitude, frequency, and phase of the bionic prototype, the main execution mechanisms of the robot were controlled through a pneumatic system to carry out experimental testing. The results show that the performance of the robot is consistent with the original design and numerical simulation predictions, and it can achieve certain maneuverability, flexibility, and environmental adaptability. The significance of this work is the development of a pneumatic soft bionic robot suitable for amphibious environments, which provides a new idea for the bionic design and application of pneumatic soft robots.

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Section: Introductionmentioning

confidence: 99%