Finger Flexion and Extension Driven by a Single Motor in Robotic Glove Design

Pneumatic and tendon-driven actuators are widely used in soft robotic glove design. Tendon-driven gloves generally better controllability, dexterity, force output, but they less comfortable than pneumatic ones. Most focus on only one actuation mode where either motor-driven tendon or pump-driven transmission is used. Herein, a double-acting actuator (DASA) that provides both flexion extension of fingers by single motor presented. This achieved smart pulley bellow system. The kinematic model the torque fabric-based (FPEA) developed to analyze DASA performance. bending angle index finger actuated FPEA joint characterized experimental studies. A cycle test conducted 3000 times, demonstrating its high repeatability. prototype (68 g) based proposed with control box (835 fabricated demonstrate assistance. Based electromyography signals, performance evaluated squeezing sponge test.