Development and evaluation of fiber reinforced modular soft actuators and an individualized soft rehabilitation glove
Development and evaluation of fiber reinforced modular soft actuators and an individualized soft rehabilitation glove
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DOI：
10.1016/j.robot.2023.104571
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发表时间：
2023-11
期刊：
影响因子：
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通讯作者：
Shota Kokubu;P. E. T. Vinocour;Wenwei Yu
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文献类型：
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作者：
Shota Kokubu;P. E. T. Vinocour;Wenwei Yu
在软康复手套的研究和开发中，考虑使用者的形态和生物力学特征的个性化支持是下一步用于康复实践的关键步骤。与需要为每个用户重新设计整个手指的单一结构软执行器相比，模块化软执行器通过调整更容易制造的刚性连接器来支持每个关节。尽管已经开发了几种模块化驱动器，但软驱动器与手指之间的相互作用以及SRG支持下的手的功能都没有得到适当的评估。在这项研究中，我们提出了一种新型的模块化软驱动器，它通过扩大腔体和纤维增强来改善支撑性能。此外，我们还利用所提出的驱动器制作了SRG，并对驱动器和使用虚拟手指和手的SRG的运动范围、扭矩和响应时间进行了客观的评估。此外，还进行了Kapandji测试，这是对拇指对位的临床评估，以显示所提出的致动器和SRG的性能。结果，新型模块化软驱动器表现出更好的支撑性能，SRG可以支持多个抓取轮廓并允许拇指对位。这项工作朝着将软机器人应用于康复迈出了一步。
In the research and development of soft rehabilitation gloves (SRGs), individualized support considering users’ morphological and biomechanical characteristics is the next critical step toward use in rehabilitation practice. Compared with single-structure soft actuators for a whole finger, which require redesigning for each user, modular soft actuators enable the support for each joint by adjusting rigid connectors that are easier to fabricate. Several modular actuators have been developed, however, neither the effect of interaction between soft actuators and fingers nor the functionality of a hand under the support of an SRG has been appropriately evaluated. In this study, we proposed a new modular soft actuator that improved the support performance with enlarged chambers and fiber reinforcement. Moreover, we made an SRG with the proposed actuators and conducted an objective evaluation for the range of motion (ROM), torque, and response time of both actuators and the SRG with a dummy finger and hand. Furthermore, the Kapandji test, a clinical evaluation of the thumb’s opposition, was performed to show the performance of the proposed actuators and the SRG. As a result, the new modular soft actuators showed better support performance, and the SRG can support multiple grasping profiles and enable the thumb’s opposition. This work moves one step toward applying soft robotics to rehabilitation.