Research on Hand Rehabilitation Device Based on 3D Soft Actuator

doi:10.3901/JME.2022.23.088

Abstract

Abstract: Aiming at the problems of complex structure, poor wearing comfort and high manufacturing cost of hand rehabilitation device, a novel hand rehabilitation device based on 3D soft actuator is proposed. Firstly, according to the analysis of the functional range of motion of the hand, a 3D soft actuator with three-cavity structure and fiber-reinforced structure is designed. Secondly, using Yeoh model, virtual work principle and structural analysis, a mathematical model is established with air pressure and fiber turns as input and bending angle as output. Then, through finite element analysis, the number of fiber turns and the recommended working pressure are determined, which reduces the computational complexity of the model. Finally, the prototype is fabricated using 3D printing technology and silicone-rubber. To verify the above theory, the performance test is carried out on the soft actuator comprehensive experimental platform. The results show that the maximum bending angle, fingertip force and relative error of the soft actuator are 230 °, 1.08 N and 25.04 %, respectively. And the device can imitate common gestures and grab daily necessities, which can meet the basic hand rehabilitation training.

Key words: 3D soft actuator, hand rehabilitation device, bending theory modeling, finite element analysis, prototype fabrication and testing

CLC Number:

TH122

MA Kaiwei, GAO Shuang, JIANG Zhenjiang, FAN Baojie, XU Fengyu. Research on Hand Rehabilitation Device Based on 3D Soft Actuator[J]. Journal of Mechanical Engineering, 2022, 58(23): 88-97.

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