A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging

Yap, Hui-Kim; Kamaldin, Nazir; Lim, Jeong Hoon; Nasrallah, Fatima A.; Goh, James Cho Hong; Yeow, Chen-Hua

doi:10.1109/tnsre.2016.2602941

Cited by 77 publications

(44 citation statements)

References 53 publications

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“…The output force is not large enough to carry out many daily activities and needs to be improved. In 2017, Yap et al proposed flexion and extension actuators that could be inserted into actuator bags separately, which alleviates the problem of slow dynamics in previous work on soft mechanical gloves [50,61]. Based on this, a bidirectional soft mechanical glove, which is completely based on fabric, was designed ( Figure 3h) [62].…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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“…As the DTCA is soft and light, it can replace traditional rigid and heavy actuators. It may contribute to medical robotics such as prosthetic limb, or to wearable textile actuators for muscle power assistance in rehabilitation . In addition, it can be applied to various soft robots and human‐robot interactions.…”

Section: Performance Comparison Of Tcamentioning

confidence: 99%

Double Helix Twisted and Coiled Soft Actuator from Spandex and Nylon

et al. 2018

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This paper introduces a fabrication method and properties of newly developed Twisted and Coiled soft Actuator (TCA) from nylon and spandex. The TCA, a thermally driven actuator, is one of the promising soft actuators that shows considerable strain compared to the others. Typically, TCA is fabricated from single polymer fiber such as the spandex and nylon. However, TCA from each material shows some limits. The spandex TCA (STCA) shows siginificant strain more than 45%. However, since the spandex is non‐conductive material, the STCA requires additional heat source such as heat gun. On the other hand, since the nylon TCA (NTCA) is fabricated from silver‐coated nylon, it is capable of Joule heating. However, the strain is considerably smaller than that of the STCA. Newly developed TCA, Double helix TCA (DTCA), is composed of both of them. As a result, the DTCA inherits the properties of the STCA and the NTCA. It is capable of Joule heating showing high strain over 40%. Since, DTCA is very soft, light, and cheap, it has various applications in the field of robots including artificial limbs.

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“…As these techniques mature and allow an ever more detailed morphological and functional assessment of tissues and organs, researchers and clinicians are increasingly eager to employ CT and MR imaging not only for diagnostics but also during treatment in image‐guided interventions . Examples for these procedures under intraoperative CT or MRI visualization include image‐guided prostate therapy and biopsies, dynamic CT angiography, vascular interventions, neurosurgery, and rehabilitation monitoring …”

Section: Introductionmentioning

confidence: 99%

“…7 Examples for these procedures under intraoperative CT or MRI visualization include image-guided prostate therapy 8 and biopsies, 9,10 dynamic CT angiography, 11 vascular interventions, 12 neurosurgery, 13 and rehabilitation monitoring. 14,15 Performing image-guided interventions is a challenging task. The physician often has to reach inside the bore of the CT or MRI scanner to perform the procedure.…”

Section: Introductionmentioning

confidence: 99%

CT and MRI compatibility of flexible 3D‐printed materials for soft actuators and robots used in image‐guided interventions

et al. 2019

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Purpose Three‐dimensional (3D) printing allows for the fabrication of medical devices with complex geometries, such as soft actuators and robots that can be used in image‐guided interventions. This study investigates flexible and rigid 3D‐printing materials in terms of their impact on multimodal medical imaging. Methods The generation of artifacts in clinical computer tomography (CT) and magnetic resonance (MR) imaging was evaluated for six flexible and three rigid materials, each with a cubical and a cylindrical geometry, and for one exemplary flexible fluidic actuator. Additionally, CT Hounsfield units (HU) were quantified for various parameter sets iterating peak voltage, x‐ray tube current, slice thickness, and convolution kernel. Results We found the image artifacts caused by the materials to be negligible in both CT and MR images. The HU values mainly depended on the elemental composition of the materials and applied peak voltage was ranging between 80 and 140 kVp. Flexible, nonsilicone‐based materials were ranged between 51 and 114 HU. The voltage dependency was less than 29 HU. Flexible, silicone‐based materials were ranged between 60 and 365 HU. The voltage‐dependent influence was as large as 172 HU. Rigid materials ranged between −69 and 132 HU. The voltage‐dependent influence was <33 HU. Conclusions All tested materials may be employed for devices placed in the field of view during CT and MR imaging as no significant artifacts were measured. Moreover, the material selection in CT could be based on the desired visibility of the material depending on the application. Given the wide availability of the tested materials, we expect our results to have a positive impact on the development of devices and robots for image‐guided interventions.

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A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging

Cited by 77 publications

References 53 publications

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Double Helix Twisted and Coiled Soft Actuator from Spandex and Nylon

CT and MRI compatibility of flexible 3D‐printed materials for soft actuators and robots used in image‐guided interventions

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