Design, Fabrication and Control of a Soft Robotic Wrist Sleeve for Wrist Rehabilitation

Abstract

The growing demand for advanced rehabilitation technologies for individuals with motor impairments underscores the need for innovative solutions. Soft robotics and fabric-based actuators offer promising approaches in this field. This paper presents the design, fabrication, and control of a soft robotic glove for wrist rehabilitation, a joint critical to complex motor functions. Various soft actuators, made from Thermoplastic Polyurethane (TPU) sheets, were developed and evaluated through experimental testing at varying angles and pressures due to their compliance, lightweight nature, and anisotropic properties. These tests measured torque at varying angles and pressures. An 8-pouch actuator design demonstrated optimal performance in terms of torque generation and stability. Two control systems were developed: one for portable use and another for applications requiring higher pressures. This research advances existing wrist rehabilitation methods and provides valuable insights for future developments.