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Technical Brief

A Low-Profile Soft Robotic Sixth-Finger for Grasp Compensation in Hand-Impaired Patients1

[+] Author and Article Information
Hong Kai Yap

NUS Graduate School for Integrative
Sciences and Engineering,
National University of Singapore,
Singapore 117456, Singapore;
Department of Biomedical Engineering,
National University of Singapore,
Singapore 117583, Singapore

James Cho Hong Goh

Department of Biomedical Engineering,
National University of Singapore,
Singapore 117583, Singapore

Chen-Hua Yeow

Department of Biomedical Engineering,
National University of Singapore,
Singapore 117583, Singapore;
Singapore Institute for Neurotechnology (SINAPSE),
National University of Singapore,
Singapore 117456, Singapore;
Advanced Robotics Center (ARC),
National University of Singapore,
Singapore 117580, Singapore

DOI: 10.1115/1.4033741Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030914 (Aug 01, 2016) (2 pages) Paper No: MED-16-1085; doi: 10.1115/1.4033741 History: Received March 01, 2016; Revised March 17, 2016

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Copyright © 2016 by ASME
Topics: Actuators , Robotics
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References

Figures

Grahic Jump Location
Fig. 1

(a) Computer-aided design drawing of the device, (b) rest, and (c) working position of the device

Grahic Jump Location
Fig. 2

(a) A soft actuator with corrugated-fabric layer to prevent undesired radial budging. (b) Fabrication process of the actuator: (i) pour liquid elastomer (DragonSkin 10, Smooth-On, Inc., Macungie, PA) to the channel mold, (ii) place the outer layer mold on top to create corrugated outer layer, (iii) the ensemble is cured under 60 °C, and (iv) a fabric was attached to the corrugated outer layer and seal the bottom of the cured structure with an inextensible fabric.

Grahic Jump Location
Fig. 3

(a) Force measurement setup and (b) force–pressure relationship of the actuator

Grahic Jump Location
Fig. 4

(a) Bimanual task: Unscrew the cap of a bottle with the assistance of the device. (b)–(d) Soft actuator adapted to objects with different sizes and shapes.

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