A SOFT GLOVE: DESIGN, MODEL, FABRICATION, AND sEMG-BASED CONTROL EXPERIMENTS, 320-329.
Huadong Zheng, Yongfeng Tian, Yan Cheng, Caidong Wang, Ayong Li, Xinjie Wang, Fengyang Liu, and Liangwen Wang
Keywords
Soft glove, actuator, soft fingers, finite element analysis, mirror control
Abstract
Unlike prior designs of sot robots with only one actuator per
finger, this study designed and built a soft glove with multiple
soft actuators on one finger to address current problem of soft
hand robots lack of flexibility. Soft glove can help patients with
loss of hand motor function in rehabilitation training and object
grasping. Firstly, the 3D model of soft glove is established, and
the motion of soft finger is analysed by finite element. The soft
finger prototype was then created using 3D printing and casting
method. Secondly, an experimental platform for measuring the
soft actuator’s output force was created, and the soft actuator’s
output force capability was evaluated. Then, soft finger movement
experiments were used to confirm the structure’s practicality. The
simulation model’s accuracy was confirmed by comparing statics
simulation data with soft finger experimental data. Thirdly, a control
experimental platform was employed to implement mirror therapy,
and surface electromyography (sEMG) signals were used to allow
patients to complete mirror therapy while wearing soft glove. Finally,
the gripping ability of soft glove was demonstrated by successfully
grasping of things varying in weight, shape, and size. Soft glove
assisted humans in grasping objects in various ways, proving that it
could help patients grip objects more flexibly.
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