Soft Pneumatic Prosthetic Hand

Fraś, Jan; Althoefer, Kaspar

doi:10.1007/978-3-319-96728-8_10

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…The construction of the actuator described in this paper is derived from actuation chambers used in STIFF-FLOP manipulator [7]. The bending mechanism is, however, inspired by the previous work made on soft compliant graspers and hands presented in [14], [15]. In order to enable the assumed motion the actuator consists of two independent pressure chambers that tend to elongate when pressurized.…”

Section: B the Actuator Designmentioning

confidence: 99%

Fluidical bending actuator designed for soft octopus robot tentacle

Fraś

Maciaś

Noh

et al. 2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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Soft actuation, due to its mechanical properties offer a complex motion that is not achievable for traditional mechanism. Thanks to that property it is often considered for bio-mimicking devices as many leaving creatures move by complex and distributed deformation. In this paper we propose a novel soft fluidical actuator designed to be used as a biomimicking tentacle in swimming octopus robot. The actuator has two degrees of freedom that enables bending in some range of directions and inherits the actuation effectiveness of single degree of freedom actuators while still able to control two of them. The actuator has been tested in terms of generated forces and motion capabilities and shows significant improvement regarding the state of the art actuators capable of completing the assumed task. The actuator enables the octopus robot to advance forward, change swimming directions and rotate around its primary axis. The paper presents the design, fabrication process and experimental verification of the proposed solution.

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Section: B the Actuator Designmentioning

confidence: 99%

Fluidical bending actuator designed for soft octopus robot tentacle

Fraś

Maciaś

Noh

et al. 2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

Self Cite

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“…Pneumatic actuators are also used for human rehabilitation [52] and in prosthetic devices [53]. Orthotics are orthopedic apparatuses used to improve the functionality of movable parts of the body.…”

Section: Use In Medical Systemsmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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“…Multiple researches have proposed different soft robotic hands, some of the most common soft robotic hands operate using cable driven fingers that allow to perform the different movements and grasping patterns [ 21 , 22 , 23 , 24 , 25 ]. Another common actuation method in soft robotic hands is the use of pneumatic fingers, this fingers are manufactured to be hollow on the inside, so they can perform bending motions when pressurized [ 26 , 27 , 28 , 29 , 30 ]. On one hand, pneumatic actuated prosthesis are often loud, expensive, and less portable due to the necessary pneumatic system for the actuation, hindering their implementation outside of a laboratory setting, on the other hand, most of the cable driven soft prosthesis lack the anatomical properties that made human hands unique, limiting their dexterity.…”

Section: Introductionmentioning

confidence: 99%

A Proposal of Bioinspired Soft Active Hand Prosthesis

et al. 2023

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Soft robotics have broken the rigid wall of interaction between humans and robots due to their own definition and manufacturing principles, allowing robotic systems to adapt to humans and enhance or restore their capabilities. In this research we propose a dexterous bioinspired soft active hand prosthesis based in the skeletal architecture of the human hand. The design includes the imitation of the musculoskeletal components and morphology of the human hand, allowing the prosthesis to emulate the biomechanical properties of the hand, which results in better grips and a natural design. CAD models for each of the bones were developed and 3D printing was used to manufacture the skeletal structure of the prosthesis, also soft materials were used for the musculoskeletal components. A myoelectric control system was developed using a recurrent neural network (RNN) to classify the hand gestures using electromyography signals; the RNN model achieved an accuracy of 87% during real time testing. Objects with different size, texture and shape were tested to validate the grasping performance of the prosthesis, showing good adaptability, soft grasping and mechanical compliance to object of the daily life.

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Soft Pneumatic Prosthetic Hand

Cited by 4 publications

References 9 publications

Fluidical bending actuator designed for soft octopus robot tentacle

Fluidical bending actuator designed for soft octopus robot tentacle

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

A Proposal of Bioinspired Soft Active Hand Prosthesis

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