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Conference proceeding
A Variable Stiffness Soft Actuator for Hand Rehabilitation
Proceedings of the 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR), pp.587-594
International Conference on Reconfigurable Mechanisms and Robots (ReMAR) (Chicago, Illinois, USA, 06/23/2024–06/26/2024)
06/23/2024
Abstract
Stroke patients have a pressing demand for innovative hand rehabilitation devices with multiple finger joint positions. In this research, a novel soft variable stiffness actuator is proposed for alternative hand rehabilitation therapies. The design allows targeted stiffness modifications above specific joints, enabling a range of motions from a simple actuation source, supplemented by a smaller actuator determining internal stiffness. Four configurations were tested, adjusting stiffness regions within the actuator. Initial testing employed Finite Element Analysis simulations with hyper-elastic non-linear material settings, predicting actuator behavior under varying pressure. Comparison of simulation and experimental results, despite differing actuation pressure due to air leaks, revealed an acceptable replication of Finite Element Analysis simulations, with minor differences in tip trajectory. Validation involved testing a single prototype, laying the groundwork for a new form of variable stiffness actuator. The results indicate that the proposed soft variable stiffness actuator can achieve diverse hand rehabilitation guidance postures under the desired force, making it applicable to next-generation hand rehabilitation gloves and other devices.
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Details
- Title
- A Variable Stiffness Soft Actuator for Hand Rehabilitation
- Publication Details
- Proceedings of the 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR), pp.587-594
- Resource Type
- Conference proceeding
- Conference
- International Conference on Reconfigurable Mechanisms and Robots (ReMAR) (Chicago, Illinois, USA, 06/23/2024–06/26/2024)
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Copyright
- © 2024, IEEE
- Identifiers
- 99380579793506600
- Academic Unit
- Mechanical Engineering; Hal Marcus College of Science and Engineering
- Language
- English