Design and development of dual-acting soft actuator for assistance and rehabilitation of finger flexion and extension

Abstract

The powerfulness of Soft robotic systems is relied to the safe performance. In addition to other advantages: the flexibility and deformability. Developing an assistive tool for Hand rehabilitation through soft pneumatic actuated hand gloves is an improved and suitable way for helping post stroke subjects. The Pneumatic network (Pneu-Net) actuators are soft actuators composed of pneumatic chambers actuates when pressurised with air. Dual acting soft pneumatic Pneu-Net actuator is developed as a part for building the glove, the actuator is designed for assisting both finger flexion and extension motions. Pneumatic network (Pneu-net) actuator is developed and design geometry effect is studied, mainly the influence of the dual actuators on each other in addition to the effect of the number of air chambers per each actuator. Design selection based on the finite element analysis and experimental testing, bending angle and energy efficiency parameters in addition to comfort and safe performance are the main criteria of concern.