Real time control and fabrication of a soft robotic glove by two parallel sensors with MBD approach

Rakhtala, Seyed Mehdi; Ghayebi, Roozbeh

Abstract

Soft robotic gloves were designed to aid the rehabilitation process with hand pathologies and coordination of gripping exercises. The main issue in soft robotic actuators is to design a control strategy to overcome deformation in grasping exercises. In this paper, a new soft robotic actuator is developed to be protected against swell and deformation. This soft robotic glove is equipped with two sensors; these sensors make the robotic glove more intelligent. In the hardware, it was used two sensors in the new closed-loop method which include an air pressure sensor in the figure tip and a flex sensor to measure finger flexion rate. Two closed-loop control system is developed to regulate inlet air pressure and regulate the angle of the fingers for the soft robotic actuator. A Model-Based Design (MBD) method is presented as a very cost-effective, favorable, and robust method. PID programming on an embedded controller is applied by MBD approach. The soft actuator process contains a molded wooden chamber and fiber reinforcement. Experimental results show that the proposed soft robotic has a soft gripping mechanism, accurate gripping against various objects during daily activities.

• Journal Article Type: Article
• Acceptance Date: Dec 16, 2021
• Online Publication Date: Dec 20, 2021
• Publication Date: Feb 28, 2022
• Deposit Date: Aug 15, 2023
• Journal: Medical Engineering and Physics
• Print ISSN: 1350-4533
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 100
• Article Number: 103743
• DOI: https://doi.org/10.1016/j.medengphy.2021.103743
• Public URL: https://uwe-repository.worktribe.com/output/11001486