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Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance. 2019

Kelvin H L Heung, and Zhi Qiang Tang, and Leo Ho, and Macro Tung, and Zheng Li, and Raymond K Y Tong

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.

UI MeSH Term Description Entries
D004867 Equipment Design Methods and patterns of fabricating machines and related hardware. Design, Equipment,Device Design,Medical Device Design,Design, Medical Device,Designs, Medical Device,Device Design, Medical,Device Designs, Medical,Medical Device Designs,Design, Device,Designs, Device,Designs, Equipment,Device Designs,Equipment Designs
D006225 Hand The distal part of the arm beyond the wrist in humans and primates, that includes the palm, fingers, and thumb. Hands
D006801 Humans Members of the species Homo sapiens. Homo sapiens,Man (Taxonomy),Human,Man, Modern,Modern Man
D000067190 Exoskeleton Device Device designed to wear externally to support muscular skeletal system in various movements such as RANGE OF MOTIONS; WEIGHT-BEARING; GAIT; and LOCOMOTION. Robotic Exoskeleton,Device, Exoskeleton,Devices, Exoskeleton,Exoskeleton Devices,Exoskeleton, Robotic,Exoskeletons, Robotic,Robotic Exoskeletons
D000071939 Stroke Rehabilitation Restoration of functions to the maximum degree possible in a person or persons suffering from a stroke. Rehabilitation, Stroke
D000465 Algorithms A procedure consisting of a sequence of algebraic formulas and/or logical steps to calculate or determine a given task. Algorithm
D012371 Robotics The application of electronic, computerized control systems to mechanical devices designed to perform human functions. Formerly restricted to industry, but nowadays applied to artificial organs controlled by bionic (bioelectronic) devices, like automated insulin pumps and other prostheses. Companion Robots,Humanoid Robots,Remote Operations (Robotics),Social Robots,Socially Assistive Robots,Telerobotics,Soft Robotics,Assistive Robot, Socially,Companion Robot,Humanoid Robot,Operation, Remote (Robotics),Operations, Remote (Robotics),Remote Operation (Robotics),Robot, Companion,Robot, Humanoid,Robot, Social,Robot, Socially Assistive,Robotic, Soft,Social Robot,Socially Assistive Robot,Soft Robotic
D016059 Range of Motion, Articular The distance and direction to which a bone joint can be extended. Range of motion is a function of the condition of the joints, muscles, and connective tissues involved. Joint flexibility can be improved through appropriate MUSCLE STRETCHING EXERCISES. Passive Range of Motion,Joint Flexibility,Joint Range of Motion,Range of Motion,Flexibility, Joint
D018737 Hand Strength Force exerted when gripping or grasping. Grasp,Grip,Grip Strength,Hand Grip Strength,Grasps,Grip Strength, Hand,Grips,Strength, Grip,Strength, Hand,Strength, Hand Grip
D066330 Printing, Three-Dimensional Process for making, building or constructing a physical object from a three-dimensional digital model by laying down many successive thin layers of building material. 3-D Printing,3-Dimensional Printing,3D Printing,Three-Dimensional Printing,3 D Printing,3 Dimensional Printing,3-D Printings,3-Dimensional Printings,3D Printings,Printing, 3-D,Printing, 3-Dimensional,Printing, 3D,Printing, Three Dimensional,Printings, 3-D,Printings, 3-Dimensional,Printings, 3D,Printings, Three-Dimensional,Three Dimensional Printing,Three-Dimensional Printings

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