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LK 130
A dual-glove mirror rehabilitation system using soft robotics and sensors
LK 130
A dual-glove mirror rehabilitation system using soft robotics and sensors
National University of Singapore
This paper presents a dual-glove rehabilitation system, comprising of a soft robotic glove and soft sensor glove, designed to provide individuals with robot-assisted hand mirror therapy and assist them... Read more

Description

This paper presents a dual-glove rehabilitation system, comprising of a soft robotic glove and soft sensor glove, designed to provide individuals with robot-assisted hand mirror therapy and assist them in performing key hand functions during activities of daily living. The soft robotic glove is worn on the affected hand, while the soft sensor glove is worn on the unaffected hand. The soft sensor glove is equipped with soft flexible flexion sensors that read the individual joint motions and communicate with the soft robotic glove. The soft robotic glove utilizes soft pneumatic actuators that are low-profile, highly customizable and compliant. These actuators can provide assisted natural motion to the fingers and thumb during hand closure, and are able to generate sufficient force to assist in hand closing and grasping during different manipulation tasks. Any hand postures adopted on the soft sensor glove can be mapped directly to the soft robotic glove, thereby allowing the patient to personally control the movement of the affected hand, and perform hand mirror therapy exercises for rehabilitation and assisted hand functions for common daily tasks. Experiments were conducted to evaluate the performance of the soft sensor glove and the soft robotic glove, particularly the extent of kinematic sensing and assistance, and the force output. We will present preliminary results of a stroke patient performing robot-assisted hand mirror therapy and different manipulation tasks with the dual-glove system. We expect that this system will act as an adjunct to therapists and raise their productivity, given growing manpower constraints. The system will also potentially optimize the patients’ therapy time and allow convenient at-home rehabilitation and assistive functions, thereby improving level of recovery, independence and quality of life.

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