Design Optimization of a Soft Robotic Rehabilitation Glove Based on Finger Workspace Analysis.

ABSTRACT: The finger workspace is crucial for performing various grasping tasks. Thus, various soft rehabilitation gloves have been developed to assist individuals with paralyzed hands in activities of daily living (ADLs) or rehabilitation training. However, most soft robotic glove designs are insufficient to assist with various hand postures because most of them use an underactuated mechanism for design simplicity. Therefore, this paper presents a methodology for optimizing the design of a high-degree-of-freedom soft robotic glove while not increasing the design complexity. We defined the required functional workspace of the index finger based on ten frequently used grasping postures in ADLs. The design optimization was achieved by simulating the proposed finger-robot model to obtain a comparable w

SUBMITTER: Lee Y 

PROVIDER: S-EPMC10968285 | biostudies-literature | 2024 Mar

REPOSITORIES: biostudies-literature