Huadong Zheng, Yongfeng Tian, Yan Cheng, Caidong Wang, Ayong Li, Xinjie Wang, Fengyang Liu, and Liangwen Wang


Soft glove, actuator, soft fingers, finite element analysis, mirror control


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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