Volume 20, Issue 4 (April 2020)                   Modares Mechanical Engineering 2020, 20(4): 915-923 | Back to browse issues page

XML Persian Abstract Print


1- Mechanical Engineering Department, Mechanical Engineering Faculty, Tarbiat Modares University, Tehran, Iran
2- Mechanical Engineering Department, Mechanical Engineering Faculty, Tarbiat Modares University, Tehran, Iran , agheli@modares.ac.ir
Abstract:   (1588 Views)

Motor units’ malfunction, which happens due to stroke, often affects patients’ hand motion and subsequently restricts their daily activities and social participation. All these factors reduce the patient’s life quality. Therefore, finding a solution to overcome these limitations and improving hand function seems to be valuable. So far, many efforts have been done to design and develop different types of rehabilitation systems. Among all these systems, soft systems have attracted great attention due to their light weight, flexibility, safe interaction and affordability. The goal of this study is to fabricate a soft rehabilitation glove for hand function retrieval so that patients can perform rehabilitation exercises individually. The rehabilitation system presented here includes two different control modes including on/off and proportional modes. Each of them is selected based on patients’ needs. For verification purposes, trajectories of the finger tips were obtained in two modes: “using the glove” and “without using the glove”. Results showed that trajectories of the finger tips in the "using the glove" mode follow a proper path for the user’s digits.
 

Full-Text [PDF 749 kb]   (1290 Downloads)    
Article Type: Original Research | Subject: Mechatronics
Received: 2019/04/18 | Accepted: 2019/09/6 | Published: 2020/04/17

References
1. Maeder-York P, Clites T, Boggs E, Neff R, Polygerinos P, Holland D, et al. Biologically inspired soft robot for thumb rehabilitation. Journal of Medical Devices. 2014;8(2). [Link] [DOI:10.1115/1.4027031]
2. Polygerinos P,Wang Zh, Galloway KC, Wood RJ, Walsh CJ. Soft robotic glove for combined assistance and at-home rehabilitation. Robotics Autonomous Systems. 2015;73:135-143. [Link] [DOI:10.1016/j.robot.2014.08.014]
3. Homberg BS, Katzschmann RK, Dogar MR, Rus D. Haptic identification of objects using a modular soft robotic gripper. RSJ International Conference on Intelligent Robots and Systems (IROS), 28 Sept.-2 Oct. 2015, Hamburg, Germany. Piscataway: IEEE; 2015. [Link] [DOI:10.1109/IROS.2015.7353596]
4. Manti M, Hassan T, Passetti G, D'Elia N, Laschi C, Cianchetti M. A bioinspired soft robotic gripper for adaptable and effective grasping. Soft Robotics. 2015;2(3):107-116. [Link] [DOI:10.1089/soro.2015.0009]
5. Stokes AA, Shepherd RF, Morin SA, Ilievski F, Whitesides GM. A hybrid combining hard and soft robots. Soft Robotics. 2013. [Link] [DOI:10.1089/soro.2013.0002]
6. Sun Y, Ren H. Soft transnasal endoscopic robot for patient-administered nasopharynx inspection. Journal of Medical Devices. 2015;9(2):02093. [Link] [DOI:10.1115/1.4030141]
7. Roche ET, Horwath MA, Wamala I, Alazmani A, Song SE, Whyte W, et al. A Soft robotic sleeve supports heart function. Science Translational Medicine. 2017;9(373):3925. [Link] [DOI:10.1126/scitranslmed.aaf3925]
8. Polygerinos P, Lyne S, Wang Zh, Nicolini LF, Mosadegh B, Withesides GM, et al. Towards a soft pneumatic glove for hand rehabilitation. RSJ International Conference on Intelligent Robots and Systems, 3-7 Nov. 2013, Tokyo, Japan. Piscataway: IEEE; 2014. [Link] [DOI:10.1109/IROS.2013.6696549]
9. Polygerinos P, Wang Zh, Overvelde JTB, Galloway KC, Wood RJ, Bertoldi K, et al. Modeling of soft fiber-reinforced bending actuators. IEEE Transactions on Robotics. 2015;31(3):778-789. [Link] [DOI:10.1109/TRO.2015.2428504]
10. Polygerinos P, Galloway KC, Sanan S, Herman M, Walsh CJ. EMG controlled soft robotic glove for assistance during activities of daily living. International Conference on Rehabilitation Robotics (ICORR), 11-14 Aug. 2015, Singapore, Singapore. Piscataway: IEEE; 2015. [Link] [DOI:10.1109/ICORR.2015.7281175]
11. Yap HK, Goh J, Benjamin A, Hua R, Hoon J, Kai Y. A fabric-regulated soft robotic glove with user intent detection using EMG and RFID for hand assistive application. International Conference on Robotics and Automation (ICRA), 16-21 May 2016, Stockholm, Sweden. Piscataway: IEEE; 2016. [Link] [DOI:10.1109/ICRA.2016.7487535]
12. Yap HK, Khin PM, Koh TH, Sun Y, Liang X, Lim JH, et al. A fully fabric-based bidirectional soft robotic glove for assistance and rehabilitation of hand impaired patients. IEEE Robotics and Automation Letters. 2017;2(3):1383-1390. [Link] [DOI:10.1109/LRA.2017.2669366]
13. Kaulitzki S. Medical accurate illustration [Internet]. Unknown Publisher; Unknown Year [Unknown Cited]. Available from: Not Found. [Link]
14. Von Lanz T, Wachsmuth W. Functional anatomy. In: JH Boyes editor. Bunnell's Surgery of the Hand. 5th Edition. Philadelphia: JB Lippincott; 1970. [Link]
15. Li Z-M, Zatsiorsky V, Latash ML. The effect of finger extensor mechanism on the flexor force during isometric tasks. Journal of Biomechanics. 2001;34(8):1097-1102. [Link] [DOI:10.1016/S0021-9290(01)00061-6]
16. Connolly F, Walsh CJ, Bertoldi K. Automatic design of fiber-reinforced soft actuators for trajectory matching. Proceedings of the National Academy of Sciences. 2017. [Link] [DOI:10.1073/pnas.1615140114]
17. Khas KS, Pandey PM, Ray AR. Development of an orthosis for simultaneous three-dimensional correction of clubfoot deformity. Clinical Biomechanics. 2018;51:67-75. [Link] [DOI:10.1016/j.clinbiomech.2017.12.002]

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.