All projects
06 / Jan 2022/ KCG College of Technology, team lead of 12
Soft Robotic Glove
Rigid rehabilitation devices can hyperextend a stroke patient's joints and do not adapt to each hand.
- Role
- Team lead; kinematic modeling and actuation design.
- Stack
- D-H kinematics, Soft pneumatic actuators, Servo drives, SOFA FEA
- Context
- KCG College of Technology, team lead of 12
01
What I built
- 01A soft robotic glove for post-stroke hand rehabilitation, using silicone pneumatic actuators that inflate to guide the fingers.
- 02Five-finger multi-DOF kinematic chains (MCP, PIP, DIP joints) modeled with Denavit-Hartenberg parameter tables.
- 03Led a 12-member interdisciplinary team through design reviews that resolved conflicting electrical, mechanical and software requirements.
02
Hardware
- 01Silicone soft pneumatic actuators, one per finger
- 02Servo drives for position control
03
Software
- 01D-H forward kinematics
- 02SOFA soft-body FEA
04
Validation
- 01Actuator deformation and full finger range of motion simulated in SOFA before the physical build.
05
Results
- 01Selected after two rounds of interviews to lead the team.
06
Characteristics
| Parameter | Value |
|---|---|
| Kinematic model | Denavit-Hartenberg |
| Fingers modeled | 5 (MCP, PIP, DIP) |
| Actuator | Silicone soft pneumatic |
| Simulation | SOFA FEA |
| Team | 12 members, team lead |
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