Design, Modeling, and Evaluation of Fabric-Based Pneumatic Actuators for Soft Wearable Assistive Gloves
Design, Modeling, and Evaluation of Fabric-Based Pneumatic Actuators for Soft Wearable Assistive Gloves
复制标题
用于软质可穿戴辅助手套的织物气动执行器的设计、建模和评估
DOI：
10.1089/soro.2019.0105
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发表时间：
2020-01-29
期刊：
影响因子：
7.9
通讯作者：
Gu, Guoying
中科院分区：
文献类型：
--
作者：
Ge, Lisen;Chen, Feifei;Gu, Guoying
纺织织物具有柔顺性、重量轻和固有的各向异性，使其成为设计软气动执行器的理想材料。在这篇文章中，我们提出了设计，建模和评估一类软织物为基础的气动执行器（SFPAs）的软穿戴辅助手套，可以同时协助臂丛神经损伤患者的拇指外展和手指屈曲和伸展运动。我们研究了各种机织物和罗纹纬编织物结构的力学行为，指导我们设计拇指外展SFPA，手指屈曲SFPA和手指伸展SFPA。我们进一步开发了一个数学模型，以评估几何参数的影响，阻塞的手指弯曲的SFPAs的尖端力和手指伸展的SFPAs的伸展扭矩，这也验证了实验结果。然后，我们将我们的SFPA集成到一个柔软的可穿戴辅助手套与便携式控制系统。最后在健康志愿者和臂丛神经损伤患者身上测试手套。临床评价结果表明，我们设计的手套在辅助手部运动和抓取任务的有效性。
Textile fabrics are compliant, lightweight, and inherently anisotropic, making them promising for the design of soft pneumatic actuators. In this article, we present the design, modeling, and evaluation of a class of soft fabric-based pneumatic actuators (SFPAs) for soft wearable assistive gloves that can simultaneously assist the thumb abduction and finger flexion and extension motions for brachial plexus injury patients. We investigate the mechanical behaviors of various woven fabrics and rib weft-knitted fabric structures, guiding us to design a thumb-abduction SFPA, a finger-flexion SFPA, and a finger-extension SFPA. We further develop a mathematical model to evaluate the influence of the geometric parameters on the blocked tip forces of the finger-flexion SFPAs and extension torques of the finger-extension SFPAs, which are also verified by the experimental results. We then integrate our SFPAs into a soft wearable assistive glove with a portable control system. The glove is finally tested on a healthy volunteer and a brachial plexus injury patient. The clinical evaluation results demonstrate the effectiveness of our designed glove in assisting hand motions and grasping tasks.