Analysis and Design for a Wearable Single-Finger-Assistive Soft Robotic Device Allowing Flexion and Extension for Different Finger Sizes

Abstract

This paper proposes a design framework to create individualised finger actuators that can be expanded to a generic hand. An actuator design is evaluated to help a finger achieve tendon-gliding exercises (TGEs). We consider musculoskeletal analysis for different finger sizes to determine joint forces while considering safety. The simulated Finite Element Analysis (FEA) response of a bi-directional Pneumatic Network Actuator (PNA) is mapped to a reduced-order model, creating a robust design tool to determine the bending angle and moment generated for actuator units. A reduced-order model is considered for both the 2D plane-strain formulation of the actuator and a full 3D model, providing a means to map between the results for a more accurate 3D model and the less computationally expensive 2D model. A setup considering a cascade of reduced-order actuator units interacting with a finger model determined to be able to achieve TGE was validated, and three exercises were successfully achieved. The FEA simulations were validated using the bending response of a manufactured actuator interacting with a dummy finger. The quality of the results shows that the simulated models can be used to predict the behaviour of the physical actuator in achieving TGE.