A lightweight, soft wearable sleeve for rehabilitation of forearm pronation and supination

Se Hun Park, Jaehyun Yi, Dongwook Kim, Youngbin Lee, Helen Sumin Koo, Yong Lae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)


Forearm disabilities can result from a number of diseases or injuries, such as stroke, spinal cord injuries (SPI), and acquired/traumatic brain injuries (ABI/TBI). Patients with forearm disabilities suffer from daily activities and follow-up care and rehabilitation are critical to recovery of the patients in this case. However, they have to make personal trips to clinics or hospitals for follow-up treatments since most of existing devices available are bulky, heavy and even expensive in general, discouraging the patients from having them home. This paper proposes a pneumatic inflatable rehabilitation device designed with bio-inspiration. The device is lightweight, safe, and affordable compared to conventional devices. When the actuators of the device are inflated, the contractions of the actuators mimic the motions of the human muscles of the forearm, assisting pronation and supination. The actuators are made of heat-sealable fabrics using a custom-built patterning system. This system facilitates rapid fabrication of repetitive and complex sealing patterns. Also, the proposed rehabilitation device, which can be conjointly used with typical clothing materials, provides comfort for the user by easily conforming the three-dimensional geometries of the forearm. To characterize the system, the angles and the torques of the wrist generated by the device were measured. The result of simple closed-loop control using a vision feedback was also presented.

Original languageEnglish
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538692608
Publication statusPublished - 2019 May 24
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: 2019 Apr 142019 Apr 18

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics


Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Country/TerritoryKorea, Republic of

Bibliographical note

Funding Information:
This work was supported in part by the National Research Foundation (NRF) Grant (2016R1A5A1938472) and in part by the Convergent Technology R&D Program for Human Augmentation (2018M3C1B8017699) of NRF funded by the Korean Government (MSIT). (S.-H. Park and J. Yi contributed equally to this work. Corresponding author: Y.-L. Park.) 1S.-H. Park, J. Yi, D. Kim and Y.-L. Park are with the Department of Mechanical and Aerospace Engineering and Soft Robotics Research Center (SRRC), Seoul National University, 08826, Republic of Korea. (E-mail: {snuhun; ljhtheman; shigumchis; ylpark}@snu.ac.kr) 2Y. Lee and H. S. Koo is with the Department of Apparel Design, Konkuk University, 05029, Republic of Korea (E-mail: yblee822@naver.com; smkoo@konkuk.ac.kr) Fig. 1. Design and mechanism of the proposed wearable device showing (a) the arm bands for easy anchoring of the actuators, the muscles and the actuators for (b) pronation and (c) supination, and (d) an actual prototype on human arm.

Publisher Copyright:
© 2019 IEEE.

All Science Journal Classification (ASJC) codes

  • Materials Science (miscellaneous)
  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization


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