Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling
Necessity of a fully functional hand in our life is beyond description. Yet, a portion of the population is unable to move and control their hand due to paralysis. An assistive device can aid both daily activities and rehabilitation. This paper presents a dexterous soft robotics-based assistive glov...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-09-01
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| Series: | Intelligent Systems with Applications |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667305325000766 |
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| author | Nawara Mahmood Broti Shamim Ahmed Deowan A.S.M. Shamsul Arefin |
| author_facet | Nawara Mahmood Broti Shamim Ahmed Deowan A.S.M. Shamsul Arefin |
| author_sort | Nawara Mahmood Broti |
| collection | DOAJ |
| description | Necessity of a fully functional hand in our life is beyond description. Yet, a portion of the population is unable to move and control their hand due to paralysis. An assistive device can aid both daily activities and rehabilitation. This paper presents a dexterous soft robotics-based assistive glove with spatial kinematic model and control system. Unlike existing designs, our proposed five-fingered glove provides 20 degrees of freedom (DoFs), closely resembling a human hand. Each finger has 4 DoFs with controlled flexion, extension, abduction, and adduction motion ability. The tendon-driven mechanism simplifies design and control, while 3D-printed thermoplastic polyurethane (TPU) material ensures comfort, lightness, and an anthropomorphic appearance. The derived forward and inverse kinematics of each finger are capable of mapping joint angles to fingertip positions and orientations. To validate the kinematic model, virtual simulation was conducted to confirm its accuracy; while basic hand functionality experiments proved the gloves’ effectiveness. We expect this research to contribute to medical robotics, biomechanics, and assistive technology. |
| format | Article |
| id | doaj-art-c2d72722b2574838ac87cdcea409d26c |
| institution | Kabale University |
| issn | 2667-3053 |
| language | English |
| publishDate | 2025-09-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Intelligent Systems with Applications |
| spelling | doaj-art-c2d72722b2574838ac87cdcea409d26c2025-08-20T03:50:22ZengElsevierIntelligent Systems with Applications2667-30532025-09-012720055010.1016/j.iswa.2025.200550Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modelingNawara Mahmood Broti0Shamim Ahmed Deowan1A.S.M. Shamsul Arefin2Electrical Engineering Program, Graduate School of Science and Technology, Meiji University, JapanDepartment of Robotics and Mechatronics Engineering, University of Dhaka, Dhaka 1000, Bangladesh; Corresponding author.Department of Biomedical Physics and Technology, University of Dhaka, Dhaka 1000, BangladeshNecessity of a fully functional hand in our life is beyond description. Yet, a portion of the population is unable to move and control their hand due to paralysis. An assistive device can aid both daily activities and rehabilitation. This paper presents a dexterous soft robotics-based assistive glove with spatial kinematic model and control system. Unlike existing designs, our proposed five-fingered glove provides 20 degrees of freedom (DoFs), closely resembling a human hand. Each finger has 4 DoFs with controlled flexion, extension, abduction, and adduction motion ability. The tendon-driven mechanism simplifies design and control, while 3D-printed thermoplastic polyurethane (TPU) material ensures comfort, lightness, and an anthropomorphic appearance. The derived forward and inverse kinematics of each finger are capable of mapping joint angles to fingertip positions and orientations. To validate the kinematic model, virtual simulation was conducted to confirm its accuracy; while basic hand functionality experiments proved the gloves’ effectiveness. We expect this research to contribute to medical robotics, biomechanics, and assistive technology.http://www.sciencedirect.com/science/article/pii/S2667305325000766Assistive exogloveCAD designForward kinematicsInverse kinematicsSoft robotics |
| spellingShingle | Nawara Mahmood Broti Shamim Ahmed Deowan A.S.M. Shamsul Arefin Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling Intelligent Systems with Applications Assistive exoglove CAD design Forward kinematics Inverse kinematics Soft robotics |
| title | Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling |
| title_full | Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling |
| title_fullStr | Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling |
| title_full_unstemmed | Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling |
| title_short | Design and development of a dexterous soft-robotics based assistive exoglove with kinematic modeling |
| title_sort | design and development of a dexterous soft robotics based assistive exoglove with kinematic modeling |
| topic | Assistive exoglove CAD design Forward kinematics Inverse kinematics Soft robotics |
| url | http://www.sciencedirect.com/science/article/pii/S2667305325000766 |
| work_keys_str_mv | AT nawaramahmoodbroti designanddevelopmentofadexteroussoftroboticsbasedassistiveexoglovewithkinematicmodeling AT shamimahmeddeowan designanddevelopmentofadexteroussoftroboticsbasedassistiveexoglovewithkinematicmodeling AT asmshamsularefin designanddevelopmentofadexteroussoftroboticsbasedassistiveexoglovewithkinematicmodeling |