Prototype of Robotic Mobilization Device for Finger and Wrist Joints Driven by a Pneumatic Soft Actuator

Abstract

In this study, we have developed a finger and wrist motion support device to prevent joint contracture using a sliding stand and a pneumatic soft actuator that adapts to the size of the user's hand. Joint contracture is a condition in which joints become stiff due to an inability to move as results of an accident, illness, or ageing. A user test was carried out to confirm that the prototype device worked. The device uses an actuator whose length changes with the position of the sliding stand, and the angle of movement was measured and compared at each position. The results showed that the operating angle was greatest in the initial position, indicating that the device was working as designed. The percentages of the pre-test measured angles were 57.3% for wrist extension, 77.8% for MP joint extension, 87.3% for MP joint extension and 92.3% for wrist extension. The performance of the wrist extension movement was lower than the other movements, suggesting that the wrist extension and fixation actuators need to be improved.