Abstract
The main function of a hand is to grasp and manipulate objects, and the thumb contributes most to this function. However, thumb rehabilitation devices, especially soft robotic gloves, have not been widely investigated. Soft pneumatic actuators are lighter, more flexible, and easier maintenance than other actuators. This makes them safer and more cost-effective. In this paper, we present a design for a soft robotic thumb rehabilitation system. We used a soft pneumatic actuator for bending (SPAB) for flexion-extension motion. For the carpometacarpal (CMC) joint, we used a parallel link mechanism by placing pneumatic artificial muscles (PAM) around it in three directions. We evaluated whether this setup of SPAB and PAM could enable the required three-dimensional thumb motions by using a prototype system on a dummy thumb. The results showed that the proposed mechanism enables opposition, abduction, and adduction motions for the thumb.
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Shiota, K., Tarvainen, T.V.J., Sekine, M., Kita, K., Yu, W. (2017). Development of a Robotic Thumb Rehabilitation System Using a Soft Pneumatic Actuator and a Pneumatic Artificial Muscles-Based Parallel Link Mechanism. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_38
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DOI: https://doi.org/10.1007/978-3-319-48036-7_38
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