“EXTENSOR” SOFT ROBOT FOR CLENCHED FIST REHABILITATION AFTER STROKE

Stroke is a leading cause of mobility impairments. As more people suffer from stroke, there is a growing need for rehabilitation. Rehabilitation robots have been proven effective in assisting patients in their rehabilitation process. However, many existing rehabilitation robots are costly, so the accessibility to patients in need is limited. Soft robot technology has great potential to make rehabilitation more accessible. This paper presents a proof-of-concept soft robot design that could be used for finger rehabilitation, especially for those who suffer from clenched fists after a stroke. Using silicone elastomer and pneumatic actuation, we successfully fabricated a soft robot that curled in its resting state to fit under the patient’s clenched fist and straightened when actuated by compressed air to push the patient’s fingers open. With a unique approach to bonding the two-layer silicone elastomer structure, our soft robot can change shape to straight from its original curling state with a small air pressure (2 to 3 psi). Preliminary testing results demonstrate our soft robot’s functionality and provide valuable insights for us to optimize our design further to reach our eventual goal as a rehabilitation device that assists finger rehabilitation.