Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality

doi:10.3390/biomimetics8050425

	Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality
	Li, Fengguan 2; Chen, Jiahong 2; Zhou, Zhitao 2; Xie, Jiefeng 2; Gao, Zishu 2; Xiao, Yuxiang 2; Dai, Pei 2; Xu, Chanchan 1; Wang, Xiaojie 1; Zhou, Yitong 2
刊名	BIOMIMETICS
	2023-09-01
卷号	8
关键词	soft robotic glove hand rehabilitation twisted string actuator finger motion tracking virtual reality
DOI	10.3390/biomimetics8050425
通讯作者	Zhou, Yitong(zhouyitong@scut.edu.cn)
英文摘要	Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators (TSA) that provides whole-hand finger motion tracking. We have developed a virtual reality environment for hand rehabilitation training, allowing users to interact with various virtual objects. Fifteen small inertial measurement units are placed on the glove to predict finger joint angles and track whole-hand finger motion. We performed TSA experiments to identify design and control rules, by understanding how their response varies with input load and voltages. Grasping experiments were conducted to determine the grasping force and range of motion. Finally, we showcase an application of the rehabilitation glove in a Unity-based VR interface, which can actuate the operator's fingers to grasp different virtual objects.
资助项目	National Natural Science Foundation of China[62203174] ; Guangzhou Municipal Science and Technology Project[202201010179]
WOS关键词	ACTUATORS ; MODEL
WOS研究方向	Engineering ; Materials Science
语种	英语
出版者	MDPI
WOS记录号	WOS:001077214400001
资助机构	National Natural Science Foundation of China ; Guangzhou Municipal Science and Technology Project
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/132610]
专题	中国科学院合肥物质科学研究院
通讯作者	Zhou, Yitong
作者单位	1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, Changzhou 213164, Peoples R China 2.South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 510641, Peoples R China
推荐引用方式 GB/T 7714	Li, Fengguan,Chen, Jiahong,Zhou, Zhitao,et al. Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality[J]. BIOMIMETICS,2023,8.
APA	Li, Fengguan.,Chen, Jiahong.,Zhou, Zhitao.,Xie, Jiefeng.,Gao, Zishu.,...&Zhou, Yitong.(2023).Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality.BIOMIMETICS,8.
MLA	Li, Fengguan,et al."Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality".BIOMIMETICS 8(2023).