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Assistive Soft Robotic Glove with Ruffles Enhanced Textile Actuators

Cem Suulker, Kaspar Althoefer

TL;DR

This work introduces a textile-based soft robotic glove with pneumatic actuators that leverage a novel ruffles-enhanced bending technique. By pairing a plain cotton bottom layer with a elastane-containing top layer and integrating braided elastic bands, the actuators achieve a favorable imbalance that increases bending capability and blocking force while maintaining safety and comfort. The device demonstrates basic functional tasks, including finger closure, grasp assistance, and lifting, illustrating practical utility for rehabilitation and daily living. Evaluation is guided by an EMG-based methodology to objectively quantify assistance, with preliminary results in healthy participants indicating improved grasp performance, highlighting the glove's potential impact for post-stroke rehabilitation and elderly assistance.

Abstract

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with integrated actuators. These actuators, powered by pneumatic pressure, guide the user's hand to a desired position. Crafted from textile materials, our soft robotic glove prioritizes safety, lightweight construction, and user comfort. Utilizing the ruffles technique, integrated actuators guarantee high performance in blocking force and bending effectiveness. Additionally, we present a participant study confirming the effectiveness of our robotic device.

Assistive Soft Robotic Glove with Ruffles Enhanced Textile Actuators

TL;DR

This work introduces a textile-based soft robotic glove with pneumatic actuators that leverage a novel ruffles-enhanced bending technique. By pairing a plain cotton bottom layer with a elastane-containing top layer and integrating braided elastic bands, the actuators achieve a favorable imbalance that increases bending capability and blocking force while maintaining safety and comfort. The device demonstrates basic functional tasks, including finger closure, grasp assistance, and lifting, illustrating practical utility for rehabilitation and daily living. Evaluation is guided by an EMG-based methodology to objectively quantify assistance, with preliminary results in healthy participants indicating improved grasp performance, highlighting the glove's potential impact for post-stroke rehabilitation and elderly assistance.

Abstract

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with integrated actuators. These actuators, powered by pneumatic pressure, guide the user's hand to a desired position. Crafted from textile materials, our soft robotic glove prioritizes safety, lightweight construction, and user comfort. Utilizing the ruffles technique, integrated actuators guarantee high performance in blocking force and bending effectiveness. Additionally, we present a participant study confirming the effectiveness of our robotic device.
Paper Structure (6 sections, 3 figures)

This paper contains 6 sections, 3 figures.

Table of Contents

  1. Introduction
  2. Ruffles Enhanced Bending Actuators
  3. Materials
  4. Fabrication
  5. Results
  6. Assessment of the Assistive Glove

Figures (3)

  • Figure 1: The soft robotic glove prototype in the action of a) closing and opening of the hand, b) grasp assistance, c) lifting an iron (1.3 kg) without a hand in it.
  • Figure 2: Blocking force output and flexion angle versus pressure graphs for stretch fabric actuator, and elastic band integrated actuator. Integration of the elastic band significantly boosts the performance.
  • Figure 3: Bar plot that shows muscle contraction assisted by the glove (green), and the muscle contraction needed for the task (red), for different force intensity of tasks.