Abstract
The development of soft robotic hand exoskeletons for rehabilitation has been well-reported in the literature, whereby the emphasis was placed on the development of soft actuators for flexion and extension. Little attention was focused on developing the glove interface and attachments of actuators to the hand. As these hand exoskeletons are largely developed for personnel with impaired hand function for rehabilitation, it may be tedious to aid the patients in donning and doffing the glove, given that patients usually have stiff fingers exhibiting high muscle tone. To address this issue, a hybrid securing actuator was developed and powered pneumatically to allow for rapid securing and release of a body segment. As a proof of concept, the actuator was further adapted into a self-securing glove mechanism and assembled into a complete self-securing soft robotic hand exoskeleton with the attachment of bidirectional actuators. Our validation tests show that the self-wearing soft robotic hand exoskeleton can easily conform and secure onto the human hand and assist with manipulation tasks.