Power assistive and rehabilitation wearable robot based on pneumatic soft actuators

摘要

The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution works efficiently. Electromyography (EMG) signals are monitored to examine the proposed prototype. The proposed glove provides assistive power for multi-griping and multi-pinching movements depending on the human intention. Elderly, partially disabled and strenuous workers can use this glove. An efficient control algorithm used, depending on signals from sensors located within the glove, that capture the movement type and bending angle to provide appropriate assistance. A wide range of rehabilitation exercises can be carried out using this soft wearable glove.