arXiv 2604.007682026-06-16cs.ROcs.HC

一种符合人体工程学、可定制的软体机器人手套，用于个性化手部康复

An Ergonomic, Customizable Soft Robotic Glove toward Personalized Hand Rehabilitation

The Biorobotics Inst. and Dept. of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy（生物机器人研究所和机器人与人工智能卓越部门，圣安娜高等学院，比萨，意大利）；Institute of Mechanical Intelligence and Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna (SSSA), 56127, Pisa, Italy（机械智能研究所和机器人与人工智能卓越部门，圣安娜高等学院（SSSA），56127，比萨，意大利）；CAS Key Laboratory of Mechanical Behavior and Design of Materials, Institute of Humanoid Robots, School of Engineering Sciences, University of Science and Technology of China, Hefei, China（中国科学技术大学材料机械行为与设计国家重点实验室，人形机器人研究所，工程科学学院，合肥，中国）；Modular Implantable Neuroprostheses (MINE) Laboratory, Università Vita-Salute San Raffaele & Sant’Anna School of Advanced Studies, Milan, Italy（可植入神经假体（MINE）实验室，维塔-桑瑞法大学及圣安娜高级研究学院，米兰，意大利）；Careggi University Hospital, 50134 Florence, Italy（Careggi大学医院，50134，佛罗伦萨，意大利）；Bertarelli Fndn. Chair in Translational Neuroengineering, Neuro X Institute, École Polytechnique Fédérale de Lausanne (EPFL), Laussane, Switzerland（伯特拉里基金会转化神经工程主席，Neuro X研究所，洛桑联邦理工学院（EPFL），洛桑，瑞士）

Rui Chen, Firman Isma Serdana, Domenico Chiaradia, Xianlong Mai, Elena Losanno, Gabriele Righi, Claudia De Santis, Federica Serra, Vincent Mendez, Cristian Cama… 展开作者

Rui Chen, Firman Isma Serdana, Domenico Chiaradia, Xianlong Mai, Elena Losanno, Gabriele Righi, Claudia De Santis, Federica Serra, Vincent Mendez, Cristian Camardella, Daniele Leonardis, Giulio Del Popolo, Silvestro Micera, Antonio Frisoli

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AI总结：

针对手部康复需求，提出一种基于织物的可定制软体机器人手套，采用数控热封技术制造双腔致动器，通过个性化指关节适配和凹形外表面设计提升舒适度与抓握力，实验验证其能降低前臂肌肉活动并改善脊髓损伤患者的抓握模式。

摘要：

神经系统疾病后的手部损伤严重限制了日常生活活动的独立性，促使了有效辅助和康复策略的发展。在此背景下，软体机器人手套引起了越来越多的兴趣，然而在定制化、人体工程学适配和用户舒适度方面的持续挑战限制了其临床实用性。本文提出了一种符合人体工程学、可定制的基于织物的软体机器人手套，其致动器可根据个体手指关节几何形状进行定制。该手套包含五个支持手指屈伸的双作用致动器，以及一个专用的拇指外展致动器。利用计算机数控热封技术，我们制造了对称腔室致动器，该致动器在充气时呈现凹形外表面，从而增加手指接触面积并提高舒适度。表征测试证实，其关节力矩和抓握力足以完成日常生活活动相关任务。在十名健康受试者中，主动辅助显著降低了操作过程中的前臂肌肉活动；一项针对三名颈髓损伤患者的初步研究显示，抓握模式更加自然，且对腱索抓握的依赖减少。

英文摘要：

Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing interest in this context, yet persistent challenges in customization, ergonomic fit, and user comfort constrain their clinical utility. Here, we present an ergonomic, customizable fabric-based soft robotic glove whose actuators can be tailored to individual finger-joint geometry. The glove comprises five dual-action actuators supporting finger flexion and extension, together with a dedicated thumb abduction actuator. Leveraging computer numerical control heat sealing technology, we fabricated symmetrical-chamber actuators that adopt a concave outer surface upon inflation, thereby increasing finger contact area and improving comfort. Characterization confirmed joint moment and grasping force sufficient for ADL-relevant tasks. In ten healthy subjects, active assistance significantly reduced forearm muscle activity during manipulation, and a pilot study in three individuals with cervical spinal cord injury showed more natural grasp patterns and reduced reliance on tenodesis grasp.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。