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International Conference on Intelligent Robotics and Applications

ICIRA 2022: Intelligent Robotics and Applications pp 13–23Cite as

3D Printed Soft Robotic Hand Combining Post-Stroke Rehabilitation and Stiffness Evaluation

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

Abstract

Soft rehabilitation devices have been invented and applied for hand function recovery. In this paper, we propose a new Ring-reinforced 3D printed soft robotic hand, which combines hand rehabilitation and joint stiffness evaluation. The elastomer body of Ring-reinforced Soft-Elastic Composite Actuator (R-SECA) is 3D printed directly for fitting different sizes of fingers and the Iterative learning model predictive control (ILMPC) algorithm is used for controlling. Torque compensating layer inside R-SECA enables finger flexion and extension despite finger spasticity. Plastic rings are used to refrain radial expansion and reinforce the actuator. Bending angle and output tip force at different air pressure inputs are explored with four different R-SECA (120 mm, 112 mm, 96 mm, 72 mm length). Four-stroke survivors are recruited to evaluate the effectiveness of the soft robotic hand, and hand function improvement can be observed from the clinical evaluation data and stiffness evaluation outcomes.

Supported by the Guangdong Science and Technology Research Council (Grant No. 2020B1515120064) and the Hong Kong Innovation and Technology Fund (ITS/065/18FP).

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Authors and Affiliations

  1. Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China

    Chang Qiu Zhou, Xiang Qian Shi & Kai Yu Tong

  2. Department of Surgery, The Chinese University of Hong Kong, Hong Kong, SAR, China

    Zheng Li

Authors
  1. Chang Qiu Zhou
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  2. Xiang Qian Shi
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  3. Zheng Li
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  4. Kai Yu Tong
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Corresponding author

Correspondence to Kai Yu Tong .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Zhou, C.Q., Shi, X.Q., Li, Z., Tong, K.Y. (2022). 3D Printed Soft Robotic Hand Combining Post-Stroke Rehabilitation and Stiffness Evaluation. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_2

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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