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Design, Control and Testing of Soft Pneumatic Rehabilitation Glove

This article proposes the design, control and testing of a soft pneumatic rehabilitation glove, which can perform rehabilitation training on fingers and wrists. The rehabilitation glove is mainly composed of ordinary glove, Velcro fixing mechanism, fabric-based double chamber actuator with flex sensor (DCAFs) and single chamber actuator with flex sensor (SCAFs). SCAFs and DCAFs combine traditional pneumatic actuators with flex sensors, which can accurately obtain the bending angle for closed-loop control. Fuzzy PID controller is selected to control the actuators. The host computer software is developed with Python to control the glove conveniently and intuitively. Finally, single actuator bending experiment, passive rehabilitation motion experiment and grasping experiment are presented. The results show that the glove and its control system can perform well in rehabilitation training and grasping actions.