File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

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

TitleSoft robotic glove for combined assistance and at-home rehabilitation
Authors
Issue Date2014
Citation
Robotics and Autonomous Systems (In press), 2014 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

 

DC FieldValueLanguage
dc.contributor.authorPolygerinos, Pen_US
dc.contributor.authorWang, Zen_US
dc.contributor.authorGalloway, Ken_US
dc.contributor.authorWood, Ren_US
dc.contributor.authorWalsh, Cen_US
dc.date.accessioned2015-05-18T03:23:58Z-
dc.date.available2015-05-18T03:23:58Z-
dc.date.issued2014en_US
dc.identifier.citationRobotics and Autonomous Systems (In press), 2014en_US
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.en_US
dc.languageengen_US
dc.relation.ispartofRobotics and Autonomous Systemsen_US
dc.titleSoft robotic glove for combined assistance and at-home rehabilitationen_US
dc.typeArticleen_US
dc.identifier.emailWang, Z: zwangski@hku.hken_US
dc.identifier.authorityWang, Z=rp01915en_US
dc.identifier.doi10.1016/j.robot.2014.08.014en_US
dc.identifier.hkuros243333en_US

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats