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.

doi:10.1109/iros.2013.6696549

Cited by 432 publications

(287 citation statements)

References 16 publications

Supporting

Mentioning

280

Contrasting

Unclassified

Order By: Relevance

“…This bending motion is suitable for a diverse set of applications such as gripping and manipulating fragile objects, 9,17 adaptable locomotion on unstructured terrains and autonomous navigation, 19,20 operating surgical tools, 21 and biomedical rehabilitation. 22,23 The elastomeric materials used to fabricate SPAs typically present high resilience and robustness to different contact environments. 10 However, once inflated with pressurized air, SPAs suffer from some inherent disadvantages such as the lack of precision in movement and vulnerability to rupture in their walls.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement

2016

View full text Add to dashboard Cite

Soft pneumatic actuators (SPAs) are versatile robotic components enabling diverse and complex soft robot hardware design. However, due to inherent material characteristics exhibited by their primary constitutive material, silicone rubber, they often lack robustness and repeatability in performance. In this article, we present a novel SPA-based bending module design with shell reinforcement. The bidirectional soft actuator presented here is enveloped in a Yoshimura patterned origami shell, which acts as an additional protection layer covering the SPA while providing specific bending resilience throughout the actuator's range of motion. Mechanical tests are performed to characterize several shell folding patterns and their effect on the actuator performance. Details on design decisions and experimental results using the SPA with origami shell modules and performance analysis are presented; the performance of the bending module is significantly enhanced when reinforcement is provided by the shell. With the aid of the shell, the bending module is capable of sustaining higher inflation pressures, delivering larger blocked torques, and generating the targeted motion trajectory.

show abstract

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement

2016

View full text Add to dashboard Cite

show abstract

“…When pneumatic/hydraulic soft robots are pressurized, the internal luid chambers would expand and deform the actuator. By selectively controlling and redirecting the deformation, multiple forms of motions could be created or even combined, such as contraction/extension [150], bending [143,144,148,[151][152][153], and twisting [142,154]. Soft robots have a long list of desirable features, such as low weight, high power-toweight ratio, low material cost, and ease of fabrication [141,142].…”

Section: Soft Robotics For Surgical Applicationsmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

View full text Add to dashboard Cite

The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

show abstract

“…Actuator Functions PneuNets Bending Actuator [16], [14], [32], [34], [ 20]  Silicone rubber  Pneumatic tubing/hose  Piece of office paper  Materials: used raw materials in production of actuators.  Materials for Application: Additional materials for applications.…”

Section: Reproducibilitymentioning

confidence: 99%

“…Polygerinos et.al. (2013) designed a glove with pneunet actuators for hand rehabilitation [14]. Maeder-york et.al.…”

Section: Introductionmentioning

confidence: 99%