360 DEGREE ROTATING TROLLEY

1. DEPARTMENT OF MECHANICAL ENGINEERING
19MEP78 PROJECT PHASE-I
An Autonomous Institution
Affiliated to VTU, Belagavi,
Approved by AICTE, New Delhi,
Recognised by UGC with 2(f) & 12 ( B)
Accredited by NBA & NAAC
PROJECT PRESENTATION 2022-23

2. Batch : B5
Design and development of soft robotic glove
Name of the student USN
SRI MANI TEJA S 1MJ19ME063
SYED KHALANDER 1MJ19ME066
VINAYAK MV 1MJ19ME076
MOHAMMED SADIQ M 1MJ20ME405
Under the Guidance of
Dr. RAJESH KUMAR P Assistant Professor
Department of Mechanical Engineering
MVJ College Of Engineering
•

3. CONTENTS
– Introduction
– Literature Survey
– Motivation
– Objectives
– Methodology
– Conclusion
– References
3

4. • In order to be considered a soft robotic glove for the hand, the technology had to have the capability to generate at
least a pinching or grasping movement by combining movements of the thumb with the movement of at least one
additional finger .
• The soft robotic glove provides an at-home option for therapeutic hand exercises to improve patients' dexterity and
restore function.
Applications:
• The soft robotic market is versatile in its application in almost every field, including human-AI interaction,
medical and surgical applications, wearable and rehabilitation robots, space, exploration, geography, and
locomotionams.
• A soft robotic glove designed designed to facilitate home-based rehabilitation for stroke survivors with
hand impairment through repetitive stretching exercises .
INTRODUCTION
4

5. 7
LITERATURE SURVEY
Sl.
No.
Paper Title Author Inference Year of publication
1 Robotics and Automation (ICRA), 2018 IEEE
International Conference on, vol. Accepted,
pp. 1–8, 2018.
J. Bae, C. Siviy, M. Rouleau, N.
Menard, K. O. Donnell, M.
Athanassiu, D. Ryan, C. Bibeau,
L. Sloot, P. Kudzia, T. Ellis, L.
Awad, and C. J. Walsh.
A lightweight and efficient portable soft
exosuit for paretic ankle assistance in
walking after stroke. 2018
2 IEEE/ASME Transactions on Mechatronics,
vol. 11, no. 2, pp. 128–138, 2006.
A. B. Zoss, H. Kazerooni, and
A.Chu.
Biomechanical Design of the Berkeley Lower
Extremity Exoskeletong (BLEEX).
2006
3 “A soft wearable robot for the shoulder”
IEEE International Conference on
Rehabilitation Robotics, vol. 02129, pp.
1672–1678, 2017.
C. T. O’Neill, N. S. Phipps, L.
Cappello, S. Paganoni, and
C. J. Walsh.
A soft wearable robot for the shoulder:
Design, characterization, and preliminary
testing.
2017

6. 8
4 IEEE Transactions on Industrial Electronics, vol. 64, no.
2, pp. 1664–1674, 2017.
] Z. Li, Z. Huang, W. He, and
C. Y. Su.
Adaptive impedance control for an upper limb robotic
exoskeleton using biological signals.
2017
5 IEEE International Conference on Intelligent Robots
and Systems, vol. 2016- Novem, pp. 1033–1040, 2016.
I. Sarakoglou, A. Brygo, D.
Mazzanti, N. G. Hernandez,
D. G. Caldwell, and N. G.
Tsagarakis.
Hexotrac: A highly under-actuated hand Exoskeleton for
finger tracking and force feedback.
2016
6 2017 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), pp. 1219–1223, 2017.
B. W. K. Ang and C.-H.
Yeow.
A fully 3D printed soft robotic hand rehabilitative and
assistive exoskeleton for stroke patients.
2017
7 ” IEEE Robotics and Automation Letters, vol. 2, no. 3,
pp. 1383–1390, 2017.
H. K. Yap, P. M. Khin, T. H.
Koh, Y. Sun, X. Liang, J. H.
Lim, and C.-H. Yeow
“A Fully Fabric-Based Bidirectional Soft Robotic Glove for
Assistance and Rehabilitation of Hand Impaired Patients.
2017
8 IEEE International Conference on Rehabilitation
Robotics, 2013.
M. A. Delph, S. A. Fischer, P.
W. Gauthier, C. H. Luna, E.
A. Clancy, and
G. S. Fischer.
“A soft robotic exomusculature glove with integrated
sEMG sensing for hand rehabilitation.
2013

7. 9
9 IEEE International Conference on Robotics and
Automation, vol. 2015-June, no. June, pp. 2913–2919,
2015.
] P. Polygerinos, K.
C. Galloway, E.
Savage,M. Herman,
K. O’Donnell, and
C. J. Walsh.
Soft robotic glove for hand rehabilitation and task specific training. 2015
10 IEEE International Conference on Intelligent Robots and
Systems, pp. 1512–1517, 2013.
P. Polygerinos, S.
Lyne, Z. Wang, L. F.
Nicolini, B.
Mosadegh, G. M.
Whitesides, and C.
J. Walsh.
Towards a soft pneumatic glove for hand rehabilitation. 2013
11 IEEE Robotics and Automation Magazine, vol. 23, no. 3,
pp. 55–64, 2016.
P. Polygerinos, Z.
Wang, K. C.
Galloway, R. J.
Wood, and C. J.
Walsh.
Soft robotic glove for combined assistance and at-home rehabilitation. 2016
12 IEEE Robotics and Automation Magazine, vol. 23, no. 3,
pp. 55–64, 2016.
] H. Zhao, J. Jalving,
R. Huang, R.
Knepper, A. Ruina,
and R. Shepherd.
A helping hand: Soft orthosis with integrated optical strain sensors and EMG
control.
2016

8. 13 IEEE Robotics and Automation Letters, vol. 2,
no. 3, pp. 1725–1732, 2017.
S.-S. Yun, B. B. Kang,
and K.-J. Cho, “Exo-
Glove PM.
An Easily Customizable Modularized Pneumatic Assistive Glove. 2017
14 Biosystems and Biorobotics, vol. 15, no.
January, pp. 557–561, 2017.
M. Xiloyannis, L.
Cappello, B. K. Dinh,
C. W. Antuvan, and
L. Masia.
Design and preliminary testing of a soft exosuit for assisting elbow
movements and hand grasping.
2017
15 no. March 2015, pp. 97–105, 2015. B. H. In, B. B. Kang,
M. Sin, and K.-j. Cho.
A Wearable Robot for the Hand With a Soft. 2015
16 Journal of Intelligent Material Systems and
Structures, vol. 29, no. 8, pp. 1575–1585, 2017.
A. Hadi, K. Alipour,
S. Kazeminasab, and
M. Elahinia.
ASR glove: A wearable glove for hand assistance and rehabilitation using
shape memory alloys.
2017
17 Soft Robotics, vol. 00,no.00, p.
soro.2017.0076, 2018
L. Cappello, K. C.
Galloway, S. Sanan,
D. A. Wagner, R.
Granberry, S.
Engelhardt, F. L.
Haufe, J. D. Peisner,
and C. J. Walsh.
Exploiting Textile Mechanical Anisotropy for Fabric-Based Pneumatic
Actuators.
2018

9. 18 pp. 1–10, 2018. L. Cappello, J. T.
Meyer, K. C. Galloway,
J. D. Peisner, R.
Granberry, D. A.
Wagner, S.
Engelhardt, S.
Paganoni, and C. J.
Walsh.
Assisting hand function after spinal cord injury with a fabric-based soft robotic
glove.
2018
19 Frontiers in Neuroscience, vol. 11, no. OCT, pp. 1–
14, 2017.
H. K. Yap, J. H. Lim, F.
Nasrallah, and C. H.
Yeow.
Design and preliminary feasibility study of a soft robotic glove for hand
function assistance in stroke survivors.
2017
20 Intelligent Service Robotics, vol. 6, no. 4, pp. 181–
189, 2013.
U. Jeong, H. K. In, and
K. J. Cho.
Implementation of various control algorithms for hand rehabilitation exercise
using wearable robotic hand.
2013
21 IEEE International Conference on Rehabilitation
Robotics, vol. 2015-Septe, pp. 55–60, 2015.
P. Polygerinos, K. C.
Galloway, S. Sanan, M.
Herman, and C. J.
Walsh.
EMG controlled soft robotic glove for assistance during activities of daily living. 2015
22 Nternational Conference on Modern Power
Systems, no. May, pp. 18– 21, 2015.
S. Hartopanu and M.
Poboroniuc.
New Issues on FES and Robotic Glove Device to Improve the Hand
Rehabilitation in Stroke Patients.
2015

10. 23 IEEE Transactions on Robotics, vol. 24, no. 1, pp. 170–
184, 2008.
C. Cipriani, F.
Zaccone, S. Micera,
and M. C. Carrozza
On the shared control of an EMG-controlled prosthetic hand: Analysis of
userprosthesis interaction .
2008
24 IEEE Transactions on Neural Systems and Rehabilitation
Engineering, vol. 24, no. 4, pp. 485–494, 2016.
A. A. Adewuyi, L. J.
Hargrove, and T. A.
Kuiken
TAn Analysis of Intrinsic and Extrinsic Hand Muscle EMG for Improved
Pattern Recognition Control.
2016
25 Proceedings - IEEE International Conference on
Robotics and Automation, vol. 2016-June, pp. 3537–
3542, 2016.
H. K. Yap, B. W. Ang,
J. H. Lim, J. C. Goh,
and C. H. Yeow
A fabric-regulated soft robotic glove with user intent detection using
EMG and RFID for hand assistive application.
2016

11. • Soft robotics is a relatively recent topic. However, a wide range of systems have already been
developed, with a great number of applications (Laschi et al., 2016).
• This technological push has been closely tied to the development of new manufacturing techniques,
allowing to produce increasingly performant devices, that can even include additional functions in top of
their purely soft-mechanical behavior.
• The introduction of new innovative materials, such as self-healing polymers (Terryn et al., 2015, 2018),
or biocompatible elastomers will also lead to further expansions for soft robotics the field of medical
applications.
• The underlying manufacturing technologies already allow to tackle some of the challenges emerging
from the use of soft materials in robotics, and they will go on developing with the advances of several
scientific communities converging on soft robotics.
MOTIVATION
14

12. OBJECTIVES
• The main objective of this project is to design and develop a WORKING MECHANISAM FOR PARALYZED HAND.
• We intend to make use of SOFT ROBOTIC GLOVE WITH USE OF FIBER ACTUATORS.
• The usage of SOFT ROBOTIC GLOVE may increase the REHABILITATION FOR PARALYZED HAND and will be the
cost saving option on large scale.

13. MATERIAL USED
1. 3D Printer filament - Fiber flux 30D
2. String cable - Stainless steel string cable
3. Motor - BO gear motor, 100RPM, volts-12v, 1A
power- 12watts
4. Motor casing - Plastic
5. Pulley - Nylon

14. DESIGN OF GLOVE
Fig 1 GLOVE

15. Materials
String Gear motor Filament

16. Dimensions
Fore finger Dimension

17. DESIGN PART OF FINGER

18. TOP VIEW
TOP VIEW

19. Reference from literature Review
• If motions in both directions require similar performances, two actuators can be mounted
in an antagonistic fashion, as in bio-mechanical systems (Verrelst et al., 2005).
• An advantage of this configuration is that when the combined actuators exhibit non-linear
stiffness, both the position of the antagonistic mechanism and its global stiffness can be
controlled separately (Vanderborght et al., 2013).
• When considering a system with multiple degrees of freedom, more than two actuators
can be mounted antagonistically in order to create complex motion (Bishop-Moser et al.,
2012; Martinez et al., 2013).
• Finally, some systems use the flexibility offered by tendonlike elements (Manti et al.,
2015; Rateni et al., 2015; Mutlu et al., 2016) in order to transmit forces between the
actuator and the structure.
• as buckling is generated by compression forces. Finally, some actuators rely on internal
stress, as for instance coiled artificial muscles (Haines et al., 2014) or some SMA-based
systems (Meisel et al., 2015).

20. Thank You
MVJ College of Engineering
Near ITPB, Whitefield
Bangalore-560067.
principalengg@mvjce.edu.in
Ph: +9180 4299 1040