A Multi-Degree-Of-Freedom(Multi-DOF)soft exoskeletal hand rehabilitation actuator was proposed to address the limitation of single-degree-of-freedom in existing soft exoskeletal hand rehabilitation devices.Serrated bellows chambers were stra-tegically placed at three joints,and bidirectional square chambers were incorporated at the palm and finger joints to facilitate fin-ger flexion-extension and adduction-abduction.The nonlinear relationship between the bending angle of the actuator chambers and input air pressure was established based on the segmented constant curvature assumption model.Finite element analysis investiga-ted the impact of chamber wall thickness,length,spacing,and quantity on the actuator's bending performance.A silicone molding process was employed for actuator fabrication,and an experimental platform was constructed for bending performance testing.Re-sults demonstrate that at 60 kPa,the actuator achieves a 21.8° extension,and at 25 kPa,a 254.8° flexion,aligning with the natu-ral range of human finger motion.
维普
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