Development of Soft Pneumatic Actuator Based Wrist Exoskeleton for Assistive Motion

Singh, Inderjeet; Erel, Veysel; Gu, Yixin; Lindsay, Alexandra R.; Patterson, Rita M.; Swank, Chad; Wijesundara, Muthu B. J.

doi:10.1109/aim46323.2023.10196235

Cited by 3 publications

(6 citation statements)

References 21 publications

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“…The HWE comprises six soft pneumatic actuators: one actuator for each finger and one for the wrist. The actuators are made of silicone rubber and designed as hollow structures with a corrugated geometry to allow for expansion and angular motion, which can be found in more detail in our previous reports [10,13]. The actuators are secured on the dorsal side of the hand to apply flexion to the fingers and wrist.…”

Section: Hand and Wrist Exoskeletonmentioning

confidence: 99%

“…The data from flex sensors provide feedback to a pneumatic control unit to send the control action (air flow rate) to the actuators to achieve the required angles and velocities of joints. Our previous works showed the design, numerical simulations, range of motion studies, and force calculation for finger [10] and wrist [13] actuators. From these studies, the flexion/extension ranges of motion for the fingers and wrist are 200 • /0 • and 45 • /−45 • , respectively.…”

Section: Hand and Wrist Exoskeletonmentioning

confidence: 99%

“…Among upper body joints, the hand and wrist are the most important for objecthandling tasks, while the elbow and shoulder joints help to reach a target object [6]. Both rigid and soft robotic exoskeletons have been well explored for assisting the movements of the hand [7][8][9][10] and wrist [11][12][13] joints. Regarding hand rehabilitation robotic devices, many different types (end-effector-based, active, and passive) have been studied and reviewed for their advantages and disadvantages [7].…”

Section: Introductionmentioning

confidence: 99%

“…After the development of rigid robotic hand exoskeletons, Haghshenas-Jaryani et al [10] developed a soft robotic hand exoskeleton to overcome the disadvantages of rigid robotics. In the case of wrist joint exoskeletons, studies [11,12] present rigid robotic wrist exoskeleton designs, while [13] developed a soft robotic design of a wrist exoskeleton. However, these works [7][8][9][10][11][12][13] studied the hand and wrist joints separately.…”

Section: Introductionmentioning

confidence: 99%

“…In the case of wrist joint exoskeletons, studies [11,12] present rigid robotic wrist exoskeleton designs, while [13] developed a soft robotic design of a wrist exoskeleton. However, these works [7][8][9][10][11][12][13] studied the hand and wrist joints separately. Incorporating a wrist joint into the hand exoskeleton holds significant importance in rehabilitation [14].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

Ridremont,

Singh,

Bruzek

et al. 2024

Actuators

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Exoskeletons are being explored for assisting motion therapy for neurological impairment-related rehabilitation. Soft robotic exoskeletons are gaining more attention for upper-extremity applications due to their simplistic actuation mechanisms and compliant nature. To regain fine motor hand functions, it is desired to have both hand and wrist motions in a coordinated fashion, as most daily living tasks require a combination of both hand and wrist joint motions. However, a soft robotic exoskeleton with hand and wrist motion together is an underdeveloped area. This paper presents a pneumatically actuated soft robotic exoskeleton designed to provide coordinated assistive motion to the hand and wrist joints using PD-based feedback control. The results showed the potential of the exoskeleton to provide flexion/extension rehabilitation exercises and task-oriented rehabilitation practices. Additionally, the results have confirmed that the implemented PD control ensures that the exoskeleton reaches the targeted angular trajectories and velocities. Two modes, full and partial assistance, were successfully tested to verify the ability of the exoskeleton to accommodate varying levels of impairment.

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Section: Hand and Wrist Exoskeletonmentioning

confidence: 99%

Section: Hand and Wrist Exoskeletonmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

Ridremont,

Singh,

Bruzek

et al. 2024

Actuators

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A Novel Design of Soft Corrugated Actuator for Creating Precise Head and Neck Positioning System

Erel,

Suresh,

Singh

et al. 2024

Actuators

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Soft robots are increasingly gaining popularity as a preferred choice for designing medical devices due to their inherently compliant and adaptable nature. As research continues to advance in this field, soft robots are poised to revolutionize healthcare by providing safer, more patient-centric solutions. This paper presents the design of a novel soft corrugated actuator to create a system for positioning the head during head and neck cancer radiation therapy. Simulation and experimental data show that the presented actuator design can achieve linear expansion with respect to pressure in both free and under loading conditions. A machine learning model of the single actuator is created using experimental data (pressure, expansion, and weight) to predict the required pressure. The single actuator model’s validity is confirmed by using four actuators to achieve head flexion at a specific angle, illustrating its potential for implementation in a multi-actuator system. The preliminary design of the multi-actuator head and neck positioning system demonstrates its capability to achieve four degrees of freedom.

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Soft Robotic Bilateral Rehabilitation System for Hand and Wrist Joints

Ridremont,

Singh,

Bruzek

et al. 2024

Machines

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Upper limb functionality is essential to perform activities of daily living. It is critical to investigate neurorehabilitation therapies in order to improve upper limb functionality in post-stroke patients. This paper presents a soft-robotic bilateral system to provide rehabilitation therapy for hand and wrist joints. A sensorized glove that tracks finger and wrist joint movements is worn on the healthy limb, which guides the movement of the paretic limb. The input of sensors from the healthy limb is provided to the soft robotic exoskeleton attached to the paretic limb to mimic the motion. A proportional derivative flow-based control algorithm is used to perform bilateral therapy. To test the feasibility of the developed system, two different applications are performed experimentally: (1) Wrist exercise with a dumbbell, and (2) Object pick-and-place task. The initial tests of the developed system verified its capability to perform bilateral therapy.

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Development of Soft Pneumatic Actuator Based Wrist Exoskeleton for Assistive Motion

Cited by 3 publications

References 21 publications

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

A Novel Design of Soft Corrugated Actuator for Creating Precise Head and Neck Positioning System

Soft Robotic Bilateral Rehabilitation System for Hand and Wrist Joints

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