Design, Modeling and Experiments of a Variable Stiffness Soft Robotic Glove for Stroke Patients With Clenched Fist Deformity

Soft wearable devices for hand rehabilitation can assist activities of daily living. While existing soft robotic gloves can help with finger flexion, they are less suitable for patients who cannot extend their fingers due to poststroke increased muscular tension. In this letter, we proposed a variable stiffness pneumatic actuator that effectively increases the elasticity of the actuator to facilitate finger extension. The actuator consists of a fiber-reinforced actuator and a multi-stage articulated elastomer. It bends and extends by pneumatic actuation, with multi-stage articulated elastomer providing stiffness adjustment to accommodate varying joint resistance. The variable stiffness mechanism was achieved by the multi layered discrete metal plates which can gracefully fit the unique structure of human fingers. Analysis models were established to quantify the actuator's air pressure, vacuum pressure, and bending angle, also to predict the actuator's stiffness under different vacuum pressures. Experiments and finite element simulation were carried out to evaluate the bending performance of the actuator. Meanwhile, the output force and variable stiffness characteristic of the actuator were tested. The results show that the actuator can achieve 1.54 N fingertip output force and 2.4 times stiffness change, which satisfy the requirement of stroke patient. In addition, a clenched artificial hand with similar damper forces to human hand was applied to further verify the extending effect of the variable stiffness actuator. Finally, a rehabilitation glove integrated with multiple actuators was tested to assess typical rehabilitation gestures and the ability to grasp daily objects.