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Currently, rehabilitation medical care is expensive, requires a large number of rehabilitation therapist and which can only limit in the fixed location. In addition, there is a lack of research on the structure optimization and theoretical analysis of soft actuators for hand rehabilitation. In view of the problems above, this paper aims to propose a cheap, portable, wearable soft multiple joints rehabilitation glove.

First, this paper determined the hyperelastic constitutive model by material tensile test. Second, the soft actuator’s internal longitudinal section shape was optimized through the comparison of three diverse chamber structures. Meanwhile, the motion model of the soft actuator is established by the finite element model analysis method. Then, this paper established the constitutive model of the soft actuator according to the torque equilibrium equation and analyzed the relationship between the soft actuator’s bending angle and the input air pressure. This paper has verified that the theoretical model is correct through the soft actuator bending test. Finally, rehabilitation gloves were manufactured according to the model and the rehabilitation performance and grasping ability of gloves were verified through experiments.

The optimization results show that the internal semicircular cavity has better performance. Then, the actuator performance is better after adding the external arc structure and optimizing the physical dimension. The experimental results show that the trajectory of the actuator conforms to the mathematical model and rehabilitation gloves can meet the needs of rehabilitation treatment.

Rehabilitation gloves made of actuators can help patients with hand dysfunction in daily rehabilitation training. Then, it can also assist patients with some fine and complicated hand movements.

This paper proposes a new type of soft rehabilitation glove, which is composed of new soft actuators and adapting pieces. The new actuator is small enough to be fitted to the knuckle of the glove to move each joint of the finger.

This paper aims to provide a posture generation method of robot deposition paths based on intersection topology, which is helpful to contribute to improving the flexibility and deposition capability of the deposition system.

Via the geometry information and normal vector information of the stereolithography (STL) model, the intersecting edge information is generated and the topological relationship of the model is established. Through the removal of redundant points for the STL model and the sort of robot path points, the position information of robot path points is obtained. According to the geometric relationship between the normal vector information of the STL model and the robot deposition path points, combining with the robot posture representation method of roll-pitch-yaw angles, the posture information of path points is achieved. Then, the generation from CAD model of parts to robot paths for laser melting is realized, and the experimental verification is carried out.

For simple parts, the laser melting process can be completed without the posture information of deposition paths. However, in the melting process of a turbine blade, there are some accumulated burls on the sidewall. The posture generation method of robot deposition paths based on the intersection topology can solve this problem. The light spot of deposition points irradiates on the surface of the forming part, and the forming process can proceed smoothly.

As a motion platform in laser melting deposition (LMD), the application of the multi-joint robot can improve the flexibility and deposition capability of the deposition system, as well as promote the LMD application for individuation manufacturing, parts repair and green remanufacturing.

The posture is essential for robot deposition paths. This paper first proposes a posture generation method of deposition paths for LMD to improve the flexibility and deposition capability of LMD systems.