Design of soft actuator based hand-exoskeleton for rehabilitation and activities of daily living
Rai, Kshitiz (2018)
Diplomityö
2018
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe201801162060
https://urn.fi/URN:NBN:fi-fe201801162060
Tiivistelmä
As a result of aging, hand strength reduces significantly. This leads to insufficient grab and pinch strength needed to perform daily activities such as preparing tea and holding cups. Subsequently, personal assistant for elderly are hired. On the other hand, the post stroke survivors need hand rehabilitation to restore back the strength loss due to paralysis. In both cases, the restoration of physical strength is both essential and beneficial.
This thesis project investigates the possibility of designing a novel Hand Exoskeleton (HE) suitable for both post stroke rehabilitation and Activities of Daily Living (ADL) purposes. Based on the literature reviews and analysis, a pneumatic actuation system is chosen for developing a soft rotary artificial muscle that is capable of driving the fingers into extension and flexion motion. For this, a silicone rubber of 30 shore durometer is additive manufactured to form a soft rotary actuator. The actuators are assembled with the 3D printed exoskeleton frame to form a complete HE system. The performance results of the system is then presented. With the main aim of increasing the strength to weight ratio, the research has shown the potential to achieve the target. Furthermore, the research is successful in achieving other objectives too.
This thesis project investigates the possibility of designing a novel Hand Exoskeleton (HE) suitable for both post stroke rehabilitation and Activities of Daily Living (ADL) purposes. Based on the literature reviews and analysis, a pneumatic actuation system is chosen for developing a soft rotary artificial muscle that is capable of driving the fingers into extension and flexion motion. For this, a silicone rubber of 30 shore durometer is additive manufactured to form a soft rotary actuator. The actuators are assembled with the 3D printed exoskeleton frame to form a complete HE system. The performance results of the system is then presented. With the main aim of increasing the strength to weight ratio, the research has shown the potential to achieve the target. Furthermore, the research is successful in achieving other objectives too.