Design and manufacture of a soft robot with dual-interaction in virtual reality

Abstract

This paper examines the design and fabrication of a soft robot that can connect to a virtual reality environment. This study's primary objective is to utilize these technologies concurrently and demonstrate their applicability in various applications, particularly rehabilitation. Therefore, the process of designing and modeling the soft robot is carried out, and an applied model is created using a 3D printer and silicon material, which is then installed on gloves. Using Unity software, a virtual reality environment is created in which programs, commands, and Arduino processors control the movements of the soft robot, allowing the user to move and pick up an object in a real environment while wearing gloves, and to adjust the amount of pressure and angle of its motion based on the size of each virtual object. During the system evaluation phase, a delay in the performance and reaction time of the soft robot installed on the gloves is observed. This delay is reduced by modifying the programming structure, resulting in optimal system functionality. This capability is used to create proper mobility conditions and rehabilitation for the majority of patients with wrist injuries resulting from strokes and accidents, and it may be effective in accelerating patients' recoveries.