Assistive exoskeleton hand glove using soft pneumatic actuators: design optimization

Document Type : Original Article


Mechatronics Department, Faculty of Engineering, Ain Shams University, Egypt.



An assistive exoskeleton hand glove can be the solution to people who suffer from impairment in hand functionality. Soft pneumatic actuators (SPA) are used to actuate such glove. This paper focus on optimizing the design of the soft actuator. Finite element (FE) model is linked with the design optimization tool to find the optimal dimensions and materials
of the SPA that give maximum displacement of the actuator with acceptable stresses on the actuator’s body. Performance analysis shows the relation between different parameters and how each affect the performance of the actuator. Results show the dimensions and materials needed to have maximum actuator displacement without being subjected to high stresses.