1 Department of Biomedical Engineering and The Chinese University of Hong Kong, Shatin, Hong Kong.
2 Department of Surgery, The Chinese University of Hong Kong, Shatin, Hong Kong.
Soft Robot. 2019 Apr;6(2):289-304. doi: 10.1089/soro.2017.0125. Epub 2019 Mar 15.
Soft robotic hand/gloves for hand rehabilitation can aid the performance of activities of daily living (ADL). Although existing soft robotic hands can assist with finger flexion, few have addressed finger extension, which is a challenging task for stroke patients due to poststroke spasticity. In this article, we describe the design of a composite actuator, the soft-elastic composite actuator (SECA), to facilitate both finger flexion and extension. A double-segmented SECA comprising two serially connected fiber-reinforced actuators with two bottom torque-compensating layers was fabricated. The SECA bends and extends by pneumatic actuation, and the torque-compensating layers offer an assistive bending moment to configure the bending moment inside the SECA. The principles associated with selection of the torque-compensating layer are described. Analytical models were established to quantify the input pressure and the bending angle of SECA with free bending and when placed on a model compromised hand. The analytical models were validated experimentally and by the finite element method. Moreover, a stroke survivor was recruited to test the new robotic glove integrated with the multiple double-segmented SECA. The robotic glove facilitated hand opening and closing by the patient, and successfully assisted with grasp of a Chinese chess piece and twisting of a towel.
用于手部康复的软体机器人手/手套可以辅助日常生活活动（ADL）的完成。虽然现有的软体机器人手可以辅助手指弯曲，但很少有能够解决手指伸展的问题，这对于中风患者来说是一项具有挑战性的任务，因为中风后会出现痉挛。在本文中，我们描述了一种复合驱动器的设计，即软弹性复合驱动器（SECA），以促进手指的弯曲和伸展。我们制造了一种由两个串联连接的纤维增强驱动器和两个底部扭矩补偿层组成的双节 SECA。SECA 通过气动致动弯曲和伸展，扭矩补偿层提供辅助弯曲力矩以配置 SECA 内部的弯曲力矩。描述了选择扭矩补偿层的相关原则。建立了分析模型来量化 SECA 在自由弯曲和放置在模型受损手上时的输入压力和弯曲角度。通过实验和有限元方法验证了分析模型。此外，我们招募了一位中风幸存者来测试集成了多个双节 SECA 的新型机器人手套。该机器人手套帮助患者实现手部的开合，并成功辅助患者抓取中国象棋棋子和拧毛巾。
