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一种基于双向弯曲功能的用于康复的气动软手套系统。

A Pneumatic Soft Glove System Based on Bidirectional Bending Functionality for Rehabilitation.

作者信息

Wang Xiaohui, Cheng Qinkun, Wang Zhifeng, Lu Yongxu, Zhang Zhaowei, Zhao Xingang

机构信息

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

University of Chinese Academy of Sciences, Beijing 100049, China.

出版信息

Biomimetics (Basel). 2025 Feb 21;10(3):129. doi: 10.3390/biomimetics10030129.

DOI:10.3390/biomimetics10030129
PMID:40136783
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11940110/
Abstract

Stroke-related hand dysfunction significantly limits the ability to perform daily activities. Pneumatic soft gloves can provide rehabilitation training and support for individuals with impaired hand function, enhancing their independence. This paper presents a novel pneumatic soft robotic system for hand rehabilitation featuring bidirectional bending actuators. The system comprises a pneumatic soft glove and a pneumatic control platform, enabling various rehabilitation gestures and assisting with finger grasping. The main bending module of the pneumatic soft actuator features a three-stage cavity structure, allowing for a wider range of finger rehabilitation training gestures and greater bending angles. The reverse-bending module uses a trapezoidal cavity design to enhance the reverse-bending capability, effectively facilitating finger extension motion. The pneumatic control platform is simple to set up, but effectively controls the actuators of the soft glove, which enables both main and reverse bending. This allows individuals with hand impairments to perform various gestures and grasp different objects. Experiments demonstrate that the pneumatic soft glove has a measurable load capacity. Additionally, the pneumatic soft glove system is capable of executing single-finger movements, a variety of rehabilitation gestures, and the ability to grasp different objects. This functionality is highly beneficial for the rehabilitation of individuals with hand impairments.

摘要

与中风相关的手部功能障碍严重限制了进行日常活动的能力。气动软手套可为手部功能受损的个体提供康复训练和支持，增强他们的独立性。本文提出了一种具有双向弯曲致动器的新型手部康复气动软机器人系统。该系统包括一个气动软手套和一个气动控制平台，能够实现各种康复手势并辅助手指抓握。气动软致动器的主要弯曲模块采用三级腔体结构，可实现更广泛的手指康复训练手势和更大的弯曲角度。反向弯曲模块采用梯形腔体设计以增强反向弯曲能力，有效促进手指伸展运动。气动控制平台设置简单，但能有效控制软手套的致动器，实现正向和反向弯曲。这使手部有损伤的个体能够做出各种手势并抓取不同物体。实验表明，该气动软手套具有可测量的负载能力。此外，气动软手套系统能够执行单指运动、各种康复手势以及抓取不同物体的能力。这种功能对手部损伤个体的康复非常有益。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/8bbef42e126a/biomimetics-10-00129-g025.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/2b1db3af5ba2/biomimetics-10-00129-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/7df02b4e4512/biomimetics-10-00129-g002.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/be13adabba19/biomimetics-10-00129-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/2430c84a25ee/biomimetics-10-00129-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/bba9a480c883/biomimetics-10-00129-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/e2a6de605ee5/biomimetics-10-00129-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/ca0dff79684d/biomimetics-10-00129-g020.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/6b4d7d436537/biomimetics-10-00129-g021.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/fc8f5dbab43e/biomimetics-10-00129-g022.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/2717124ee9c9/biomimetics-10-00129-g023.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/9308/11940110/8bbef42e126a/biomimetics-10-00129-g025.jpg

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