Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance
Refereed conference paper presented and published in conference proceedings

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摘要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.
出版社接受日期03.04.2019
著者Ho Lam Heung, Zhiqiang Tang, Chun Man Ho, Lok Him Tung, Zheng Li, Kai Yu Tong
會議名稱16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
會議開始日24.06.2019
會議完結日28.06.2019
會議地點Toronto
會議國家/地區加拿大
會議論文集題名16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
出版年份2019
月份6
出版社IEEE
頁次65 - 70
國際標準書號978-172812755-2
國際標準期刊號19457898
語言美式英語

上次更新時間 2020-28-11 於 00:25