Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (4): 1555-1568.doi: 10.1007/s42235-023-00338-w
A Highly Adaptable Flexible Soft Glove Consisting of Multimode Deformable Soft Finger
Huadong Zheng1; Yan Cheng1; Xinjie Wang1; Caidong Wang1; Fengyang Liu2; Wei Bai1; Liangwen Wang1
- 1 School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China 2 School of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China
A Highly Adaptable Flexible Soft Glove Consisting of Multimode Deformable Soft Finger
Huadong Zheng1; Yan Cheng1; Xinjie Wang1; Caidong Wang1; Fengyang Liu2; Wei Bai1; Liangwen Wang1
- 1 School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China 2 School of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China
摘要： This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft fingers. The soft fingers are assembled by soft actuators and plastic materials that can be driven and controlled with single Degree of Freedom (DOF). A variety of different soft actuators are used as joint drive components to meet the motion requirements of fingers under different working conditions. We established a theoretical model to describe the deflection of the soft actuators based on reciprocal theorems. In addition, the finite-element method (FEM) was used to simulate the curvature change of the soft actuator and the soft finger, the soft actuators theoretical and simulation results were verified by experiments, and the multimode deformable soft fingers were simulated by FEM. Finally, a five-finger soft rehabilitation glove was prototyped and presented experimentally where the flexibility and functionality endowed by the soft fingers were demonstrated and highlighted. The versatility was also showcased in the applications.