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Article: Soft robotic glove for combined assistance and at-home rehabilitation

TitleSoft robotic glove for combined assistance and at-home rehabilitation
Authors
Issue Date2015
PublisherElsevier BV. The Journal's web site is located at http://www.elsevier.com/locate/robot
Citation
Robotics and Autonomous Systems, 2015, v. 73, p. 135-143 How to Cite?
AbstractThis paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.
Persistent Identifierhttp://hdl.handle.net/10722/209795
ISSN
2017 Impact Factor: 2.638
2015 SCImago Journal Rankings: 1.377
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorPolygerinos, P-
dc.contributor.authorWang, Z-
dc.contributor.authorGalloway, K-
dc.contributor.authorWood, R-
dc.contributor.authorWalsh, C-
dc.date.accessioned2015-05-18T03:23:58Z-
dc.date.available2015-05-18T03:23:58Z-
dc.date.issued2015-
dc.identifier.citationRobotics and Autonomous Systems, 2015, v. 73, p. 135-143-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10722/209795-
dc.description.abstractThis paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.-
dc.languageeng-
dc.publisherElsevier BV. The Journal's web site is located at http://www.elsevier.com/locate/robot-
dc.relation.ispartofRobotics and Autonomous Systems-
dc.titleSoft robotic glove for combined assistance and at-home rehabilitation-
dc.typeArticle-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.robot.2014.08.014-
dc.identifier.hkuros243333-
dc.identifier.volume73-
dc.identifier.spage135-
dc.identifier.epage143-
dc.identifier.isiWOS:000362060800013-
dc.publisher.placeNetherlands-

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