Design and Testing of a Soft Rehabilitation Glove Integrating Finger and Wrist Function
Design and Testing of a Soft Rehabilitation Glove Integrating Finger and Wrist Function
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DOI：
10.1115/1.4041789
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发表时间：
2018-12
期刊：
影响因子：
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通讯作者：
Jiangbei Wang;Zhaoyu Liu;Y. Fei
中科院分区：
文献类型：
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作者：
Jiangbei Wang;Zhaoyu Liu;Y. Fei
本研究提出一种结合手指与手腕功能的轻量化柔软复健手套，其设计是借由开发与应用双自由度柔软气动弯曲驱动器（DPBAs）。所提出的软手套可以实现手指和手腕的单独以及协调的运动锻炼，这有益于具有复杂手部损伤的中风患者。它由一个定制的护腕延伸的商业手套，其上安装三个背DPBA通过手指（食指/中指/无名指）和手腕，两个背单自由度气动弯曲致动器（SPBA）通过拇指/小指，和三个手掌SPBA通过手腕。DPBA具有两个独立的弯曲段，分别驱动手指和手腕的屈曲，其多步态弯曲符合生物手的多模式屈曲。SPBA用于致动手腕伸展或手指弯曲。所提出的手腕护具被设计为手套的延伸，以安装软致动器并将其运动和力有效地传递到佩戴者的手腕，以及最小化对手部的未致动限制。为了验证其可行性，我们评估了五名受试者的手的关节活动范围（ROM），力量和速度的六个不同的被动运动手套的帮助。结果表明，该手套能为脑卒中患者的手部康复训练提供足够的辅助。此外，软手套具有将手功能训练从简单的练习（例如闭合/打开和抓握）扩展到复杂的练习（例如举重、书写和拧/拧）的潜力。
This work presents a lightweight soft rehabilitation glove that integrates finger and wrist function by developing and applying the double-DOF soft pneumatic bending actuators (DPBAs). The proposed soft glove can achieve separate as well as coordinated motion exercises of fingers and the wrist, which benefits stroke patients who have complicated hand impairment. It consists of a commercial glove extended by a customized wrist bracer, on which are installed three dorsal DPBAs through fingers (index/middle/ring) and the wrist, two dorsal single-DOF pneumatic bending actuators (SPBAs) through thumb/pinky, and three palmar SPBAs through wrist. The proposed DPBA has two independent bendable segments to actuate flexion of finger and wrist, respectively, whose multigait bending conforms with multipattern flexion of the biological hand. The SPBAs are used for actuating wrist extension or finger flexion. The proposed wrist bracer is designed as an extension of the glove to install the soft actuators and transfer their motion and force to the wearer's wrist efficiently as well as minimize unactuated restriction on the hand. To verify its feasibility, we evaluate the range of motion (ROM), strength and speed of five subjects' hands assisted by the glove in six different passive motions. Results show that the proposed glove can provide sufficient assistance for stroke patients in hand rehabilitation exercise. Furthermore, the soft glove has potential in extending the hand functional training from simple exercises such as closing/opening and gripping to complex ones such as weightlifting, writing, and screwing/unscrewing.