Abstract: The power glove is a wrist rehabilitation training device that also has an auxiliary power assist function. Rehabilitation training is an important auxiliary treatment for self-rehabilitation. Most of the traditional rehabilitation training devices use a rigid exoskeleton structure driven by a motor, which tends to cause secondary injury to the joint due to the sharply changing impact force during exercise and increases the extra burden on the body owing to its larger mass. A flexible wearable powered glove device is designed and manufactured based on pneumatic artificial muscles. It can achieve wrist flexion/extension and adduction/abduction with two degrees of freedom and integrates rehabilitation training and wrist assistance. By contrast, the device is safer, more portable and comfortable for the patients because of its lightweight, soft exoskeleton structure. Additionally, by embedding a thin-film pressure sensor, the grasping force between the palm and the object can be perceived, and the wrist assist function can be automatically realized, and at the same time, the wrist can be effectively protected. A static analysis of wrist is carried out to solve the performance requirement parameters of glove device, and the key indicators of pneumatic muscle and the overall performance of gloves are tested. The test results show that the designed power gloves can meet the requirements of wrist rehabilitation training and have auxiliary assistance function.

Key words: man-machine friendly, pneumatic artificial muscles, power glove, rehabilitation training, wearable