Journal
BIOMIMETICS
Volume 8, Issue 5, Pages -Publisher
MDPI
DOI: 10.3390/biomimetics8050425
Keywords
soft robotic glove; hand rehabilitation; twisted string actuator; finger motion tracking; virtual reality
Ask authors/readers for more resources
Soft robotic gloves have gained significant attention in hand rehabilitation, but current solutions are heavy and lack finger-state monitoring and versatile treatment options. Researchers have developed a lightweight glove actuated by twisted string actuators, allowing whole-hand finger motion tracking, and utilized a virtual reality environment for rehabilitation training.
Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators (TSA) that provides whole-hand finger motion tracking. We have developed a virtual reality environment for hand rehabilitation training, allowing users to interact with various virtual objects. Fifteen small inertial measurement units are placed on the glove to predict finger joint angles and track whole-hand finger motion. We performed TSA experiments to identify design and control rules, by understanding how their response varies with input load and voltages. Grasping experiments were conducted to determine the grasping force and range of motion. Finally, we showcase an application of the rehabilitation glove in a Unity-based VR interface, which can actuate the operator's fingers to grasp different virtual objects.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available