In this paper, we present a soft robotic glove designed to augment hand rehabilitation for stroke patients with clenched fist deformity. The robotic glove provides active finger extension for hand rehabilitative training, through its embedded inflatable actuators that are fabricated by heat bonding of flexible plastic sheets. Upon pressurization, the actuators inflate, stiffen, and extend the fingers. The actuators were embedded in the finger pockets of a glove. In this work, the device was evaluated in terms of its extension torque generated on the metacarpophalangeal (MCP) joint of a dummy finger model and a healthy subject. A stroke patient with finger spasticity was recruited to demonstrate the feasibility of the device to assist in finger extension. Preliminary results showed that the device was able to generate significant extension torques to provide assistance in finger extension for both healthy and stroke participants.
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December 2016
Technical Briefs
Design of a Soft Robotic Glove for Hand Rehabilitation of Stroke Patients With Clenched Fist Deformity Using Inflatable Plastic Actuators
Hong Kai Yap,
Hong Kai Yap
NUS Graduate School for Integrative
Sciences and Engineering,
National University of Singapore,
CELS, #05-01, 28 Medical Drive,
Singapore 117456, Singapore
e-mail: hongkai@u.nus.edu
Sciences and Engineering,
National University of Singapore,
CELS, #05-01, 28 Medical Drive,
Singapore 117456, Singapore
e-mail: hongkai@u.nus.edu
Search for other works by this author on:
Jeong Hoon Lim,
Jeong Hoon Lim
Department of Medicine,
National University Hospital,
Yong Loo Lin School of Medicine,
National University of Singapore,
1E Kent Ridge Road,
NUHS Tower Block Level 10,
Singapore 119228, Singapore
e-mail: mdcljh@nus.edu.sg
National University Hospital,
Yong Loo Lin School of Medicine,
National University of Singapore,
1E Kent Ridge Road,
NUHS Tower Block Level 10,
Singapore 119228, Singapore
e-mail: mdcljh@nus.edu.sg
Search for other works by this author on:
James Cho Hong Goh,
James Cho Hong Goh
Department of Biomedical Engineering,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: biehead@nus.edu.sg
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: biehead@nus.edu.sg
Search for other works by this author on:
Chen-Hua Yeow
Chen-Hua Yeow
Department of Biomedical Engineering,
Singapore Institute for Neurotechnology,
Advanced Robotics Centre,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: bieych@nus.edu.sg
Singapore Institute for Neurotechnology,
Advanced Robotics Centre,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: bieych@nus.edu.sg
Search for other works by this author on:
Hong Kai Yap
NUS Graduate School for Integrative
Sciences and Engineering,
National University of Singapore,
CELS, #05-01, 28 Medical Drive,
Singapore 117456, Singapore
e-mail: hongkai@u.nus.edu
Sciences and Engineering,
National University of Singapore,
CELS, #05-01, 28 Medical Drive,
Singapore 117456, Singapore
e-mail: hongkai@u.nus.edu
Jeong Hoon Lim
Department of Medicine,
National University Hospital,
Yong Loo Lin School of Medicine,
National University of Singapore,
1E Kent Ridge Road,
NUHS Tower Block Level 10,
Singapore 119228, Singapore
e-mail: mdcljh@nus.edu.sg
National University Hospital,
Yong Loo Lin School of Medicine,
National University of Singapore,
1E Kent Ridge Road,
NUHS Tower Block Level 10,
Singapore 119228, Singapore
e-mail: mdcljh@nus.edu.sg
James Cho Hong Goh
Department of Biomedical Engineering,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: biehead@nus.edu.sg
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: biehead@nus.edu.sg
Chen-Hua Yeow
Department of Biomedical Engineering,
Singapore Institute for Neurotechnology,
Advanced Robotics Centre,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: bieych@nus.edu.sg
Singapore Institute for Neurotechnology,
Advanced Robotics Centre,
National University of Singapore,
4 Engineering Drive 3,
Block E4, #04-08,
Singapore 117583, Singapore
e-mail: bieych@nus.edu.sg
1Corresponding author.
Manuscript received September 5, 2015; final manuscript received February 22, 2016; published online August 11, 2016. Assoc. Editor: Rita M. Patterson.
J. Med. Devices. Dec 2016, 10(4): 044504 (6 pages)
Published Online: August 11, 2016
Article history
Received:
September 5, 2015
Revised:
February 22, 2016
Citation
Yap, H. K., Lim, J. H., Goh, J. C. H., and Yeow, C. (August 11, 2016). "Design of a Soft Robotic Glove for Hand Rehabilitation of Stroke Patients With Clenched Fist Deformity Using Inflatable Plastic Actuators." ASME. J. Med. Devices. December 2016; 10(4): 044504. https://doi.org/10.1115/1.4033035
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