Bioinspired High-Degrees of Freedom Soft Robotic Glove for Restoring Versatile and Comfortable Manipulation

Abstract

The human hand is one of the most complex and compact grippers that has arisen as a product of natural genetic engineering; it is highly versatile, as it handles power and precision tasks. Since proper contact points and force directions are required to ensure versatility and secure a stable grip on an object, there must be a large workspace and controllable tip force directions for the digits. Although they are important, many individuals with neuromuscular diseases experience loss of these features. Thus, we propose a high-degree-of-freedom (DOF) soft robotic glove inspired by the anatomical features of human hands. The mechanism for adjusting the position and force direction of each tip is based on the structure of the extrinsic and intrinsic muscle-tendon units. The large thumb workspace was achieved by assisting opposition/reposition and flexion/extension to enable various grasping postures. A bidirectional actuation control mechanism with a cable-actuated agonist and an elastomer antagonist increased the assisted DOF and maintained compactness. The kinematic and kinetic performances of our device were evaluated by performing tests with eight stroke survivors. The thumb workspace increased by 43%, 207%, and 248% in the distal-proximal, dorsal-palmar, and radial-ulnar directions, respectively. The pinching shear force decreased by 54% and 45% for the nonthumb digits and thumb, respectively. These device-assisted improvements allowed objects to be stably grasped and manipulated in various postures. The novel device can assist individuals with impaired hand function to improve their grasping performance. Clinical Research Information Service (CRIS) Registration Number: KCT0004855.

Development and validation of immersive hand rehabilitation system using a VR rhythm game with vibrotactile feedback: an fNIRS pilot study

“…In contrast, for this study three training motions-lateral pinch, medium wrap, and nger extension, among the many possible hand motion options, were selected. These motions have proven to be the most commonly used postures for gripping and releasing objects of various shapes and sizes in daily life [35], and have also been adopted as target movements in recently developed soft and exoskeleton robots [51,52].…”

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

“…This kind of mechanical scheme is shown in Figure 1 where a Mobile Position (MP) modified based on the application of two forces, one agonist and another antagonist, respectively, exists. This kind of system has been implemented to emulate the behaviour of biological systems [ 30 , 31 , 32 ]. It must be pointed out that this kind of mechanism is highly valuable when some kinds of transmission mechanisms are applied, such as a driven cable [ 33 , 34 ], or when a special class of smart actuator is implemented such as the shape memory alloys [ 27 , 35 , 36 ], pneumatic actuators [ 37 , 38 ], and electro-chemical actuators [ 39 , 40 ].…”

Restoring Voluntary Bimanual Activities of Patients With Chronic Hemiparesis Through a Foot-Controlled Hand/Forearm Exoskeleton

“…Considering that the hand/forearm is responsible for nearly 90% of upper limb functions [2], [3], hand/forearm function assistance has gained increasing attention in the field of assistive device research. Recently, several hand [4], [5] and forearm exoskeletons [6], [7], [8] have been developed for rehabilitation after stroke, but few have been designed to assist patients in their daily activities. In fact, a significant number of stroke patients are permanently left with a hemiparetic hand and forearm after the poststroke six-month golden recovery period [9].…”