可定制的软体手套助力手部康复，提升舒适度与动作自然性。
An Ergonomic, Customizable Soft Robotic Glove toward Personalized Hand Rehabilitation
- 基于可调节气囊设计，贴合个体手指关节形态。
- 实测抓握力和关节力矩满足日常活动需求。
- 适合神经损伤患者使用，改善抓握动作自然度。
神经系统疾病导致的手部功能障碍严重影响日常生活自理能力，推动了辅助与康复策略的发展。软体机器人手套在此领域备受关注，但定制化不足、人体工学适配差及佩戴不适仍制约其临床应用。本文提出一种基于织物的可定制软体机器人手套，其执行器可按个体手指关节结构进行适配。手套包含五个双动作执行器（支持屈伸）及一个专用拇指外展执行器。利用计算机数控热压技术制造对称腔室执行器，充气后呈现凹面外壁，增加与手指接触面积，提升舒适性。性能测试表明，其提供的关节力矩和抓握力足以支持日常活动相关任务。在10名健康受试者中，主动辅助显著降低操作时前臂肌肉活动；3例颈髓损伤患者的初步研究显示，抓握模式更自然，对十指捏握依赖减少。
原文摘要 · Abstract (English)
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.
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