A kind of wearable exoskeleton soft rehabilitation glove is proposed for the dementia in Parkinson’s disease (PD) patients with loss of hand function, limited range of motion, and insufficient finger muscle strength to carry out rehabilitation exercise training in a passive or auxiliary way. A novel soft joint structure based on composite fabric material is introduced for the design of the soft glove with bionic method, and experiments are conducted to verify the effeteness of the proposed soft rehabilitation glove. The test results showed that when the fluid pressure was 0.42 MPa, the joint angle of MCP, PIP and DIP could be up to 81°, 98°, 72°, and produce output torque of 1.18Nm, 1.44Nm and 1.82Nm respectively, which meets the requirements of the hand rehabilitation. A dynamic rehabilitation-training test of the rehabilitation glove was also carried out, and the results showed that the movement frequency of soft fingers could reach 30 times/min, which is sufficient for repetitive flexion/extension exercise. In order to verify the grasping characteristics of the soft glove for irregular objects, experiments were carried out. The experimental results showed that the bionic soft glove was dexterous in grasping, which conforms to the universal grasping characteristics of human hands, has the function of assisting daily life (ADL), and meets the requirements of rehabilitation.

中文翻译：

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一种用于帕金森病痴呆症的软关节复合织物软康复手套


提出一种可穿戴式外骨骼软质康复手套，用于帕金森病（PD）痴呆患者手部功能丧失、活动范围受限、手指肌力不足，以被动或辅助的方式进行康复运动训练。引入一种基于复合织物材料的新型软关节结构，采用仿生方法设计软质手套，并进行实验验证所提出的软质康复手套的有效性。测试结果表明，当流体压力为0.42 MPa时，MCP、PIP和DIP的关节角度可达81°、98°、72°，并分别产生1.18Nm、1.44Nm和1.82Nm的输出扭矩。满足手部康复的要求。还对康复手套进行了动态康复训练测试，结果显示，软手指的运动频率可达30次/分钟，足以进行重复的屈伸运动。为了验证软手套对于不规则物体的抓取特性，进行了实验。实验结果表明，仿生软手套抓取灵巧，符合人手普遍抓取特性，具有辅助日常生活（ADL）功能，满足康复要求。