TY - GEN
T1 - Towards a soft pneumatic glove for hand rehabilitation
AU - Polygerinos, Panagiotis
AU - Lyne, Stacey
AU - Wang, Zheng
AU - Nicolini, Luis Fernando
AU - Mosadegh, Bobak
AU - Whitesides, George M.
AU - Walsh, Conor J.
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893724887&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893724887&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696549
DO - 10.1109/IROS.2013.6696549
M3 - Conference contribution
AN - SCOPUS:84893724887
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1512
EP - 1517
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -