Heung Kelvin H L, Tang Zhi Qiang, Ho Leo, Tung Macro, Li Zheng, Tong Raymond K Y
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:65-70. doi: 10.1109/ICORR.2019.8779449.
In this paper, we present the new personalized 3D printed soft robotic hand for providing rehabilitation training and daily activities assistance to stroke survivors. The Soft-Elastic Composite Actuator (SECA) on the robotic hand is direct 3D printed to accommodate with different finger sizes. Flexion and extension can be actively facilitated on the SECA using the same pressurizing source. Iterative learning model predictive control (ILMPC) method is used to be the control algorithm of SECA. At 160 kPa of maximum input pressure, results show that the actuator bending angles can reach to 137 °, and tip output force can also reach to 2.45 N. Multiple 3D printed SECAs are integrated to a 3D printed hand base and then to be worn on stroke survivors. Two stroke survivors are recruited to evaluate the intention-based rehabilitation training with the 3D printed soft robotic hand, which improvement of their hand function can be observed on performing some daily tasks such as grasping a coin.
在本文中，我们展示了一种新型的个性化3D打印软机器人手，用于为中风幸存者提供康复训练和日常活动辅助。机器人手上的软弹性复合致动器（SECA）通过直接3D打印制成，以适应不同的手指尺寸。利用相同的加压源可在SECA上主动实现屈伸动作。迭代学习模型预测控制（ILMPC）方法被用作SECA的控制算法。在最大输入压力为160 kPa时，结果表明致动器的弯曲角度可达137°，尖端输出力也可达2.45 N。多个3D打印的SECA被集成到一个3D打印的手部基座上，然后穿戴在中风幸存者身上。招募了两名中风幸存者来评估使用3D打印软机器人手进行的基于意图的康复训练，在执行诸如抓取硬币等一些日常任务时，可以观察到他们手部功能的改善。
