2021 20th International Conference on Advanced Robotics (ICAR)
December 6-10, 2021. Ljubljana, Slovenia
A Soft Pneumatic Robotic Glove for Hand Rehabilitation After
Stroke
Phuoc Thien Do, Dinh Thai Vo, Hoai Phuong Le

Abstract— This paper presents the design and fabrication of
a soft pneumatic finger and its application to rehabilitation
equipment for assisting patients after a stroke. The soft actuator
has multiple air chambers continuously next to each other was
fabricated by the casting process. The material of the soft
actuator is silicone platinum. For making a soft actuator, we
2021 20th International Conference on Advanced Robotics (ICAR) | 978-1-6654-3684-7/21/$31.00 ©2021 IEEE | DOI: 10.1109/ICAR53236.2021.9659404
designed the 3D model in CAD software and printed the
prototypes with a 3D printing machine. The design of the
robotic fingers is from the human finger’s mechanism because it
has a flexible movement in a small scope. We combined these
fingers with a glove by mounting them on the glove, formed a
rehabilitation device supporting the after-stroke patients.
Because the soft pneumatic robotic glove weighs 140g, it makes
it light, comfortable, safe, easy to operate, use, and accessible to
all users. Additionally, we can control the force, bending angle,
and response time by controlling the air pressure inside the
fingers. The results showed that the glove could grasp and hold
the objects with a small mass.
I. INTRODUCTION
Hand is one of the principal parts of the human body to
perform daily activities. Besides, some accidents or diseases
could decrease the motor ability of hand function. Assistive
devices for medical aims have been commonly used in the
daily life activities of patients [1]. The suitable strategies for
hand rehabilitation should be directed towards improving the
issues for the losses of strength and dexterity. Dexterity is
defined as the ability to coordinate muscle activity to adapt to
environmental demands [2]. To restore hand function,
physical therapy and rehabilitation programs which include
repetitive task exercise, are necessary [3]. However, these
tasks are normally labour-intensive and limited to clinical
settings. As a replacement to the physiotherapist-assisted
program, a lot of robotic devices having the ability to assist
with repetitive hand movements have been chosen. Recently,
there are a lot of researches on developing robotic
rehabilitation systems for the hand that include
multi-degree-of-freedom exoskeletons [4]; these were
presented in [5], [6]. The assisted robot for rehabilitation with
rigid links provides robust applications capable of high forces
and executing challenging rehabilitation scenarios. The hard
Hoai Phuong Le is with the Ho Chi Minh City University of Technology,
268 Ly Thuong Kiet Street, Ward 14, District 10, Ho Chi Minh City,
Vietnam. (phone: 84 - 971779217; e-mail: lhphuong@hcmt.edu.vn).
Phuoc Thien Do is with the Ho Chi Minh City University of Technology,
268 Ly Thuong Kiet Street, Ward 14, District 10, Ho Chi Minh
City,Vietnam(phone: 84 - 329883131;
e-mail:thien.dobk98@hcmut.edu.vn).
Dinh Thai Vo is with the Ho Chi Minh City University of Technology,
268 Ly Thuong Kiet Street, Ward 14, District 10, Ho Chi Minh City,
Vietnam. (phone: 84 - 792399994; e-mail: dinhthai@gmail.com)
978-1-6654-3684-7/21/$31.00 ©2021 IEEE
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exoskeleton is one of the assistive and rehabilitation devices
used widely by stroke patients or people having problems
with their hands. This tool uses almost rigid links for the robot
[1]. This device includes a back support platform, a
four-finger module and a thumb module. The two modular
parts can separately control the movement of the fingers and
thumbs. The design has adjustability to fit various palm sizes
of different users conveniently [7]. Besides, The PIY Glove is
developed with Fused Deposition Modeling using 3D
printing technology for lower fabrication charges and permit
patients to 3D print rehabilitative and assistive equipment at
home [8].
However, these rigid devices are a little heavy, expensive,
and require care and time for proper alignment with the joints.
To make the glove more wearable and lightweight, easy to
replace, approaches that utilize compliant materials such as
cables [9-11] and soft elastomeric actuators have been
adopted [5]. These actuators do not require complex
mechanical configuration, which reduces the setup time and
the possibility of misalignment. Soft pneumatic actuators
have drawn increasing developed interest due to their high
compliance and soft material [12], [13]. A flat
micro-patterned soft pad, which mimics the structure of
tree-frog's toes, increases adhesion when gripping an object
in a wet environment [26], [27]. The soft Pneumatic Bending
Actuators are developed as wearable robots from the soft
robotic technology for hand rehabilitation or assistive device
[14].
In general, elements that may improve recovery after a
stroke consist of early intervention, repetition, and motivation.
Patients who are more active and persistent in their
rehabilitation, are better able to regain more functions.
During rehabilitation after stroke, exercise equipment or
other devices may be used to provide assistance and
resistance in therapy. Exercising the recovering zone is
beneficial to recovery, as building strength increases function
[15]. Several pioneer works on soft robotic gloves have been
accomplished by Polygerinos et al. They designed a
hydraulically actuated soft robotic glove that uses a
fibre-reinforced elastomer actuator that can be mechanically
programmed to create complex motions similar to a human
finger [1], [16]. The main challenge involved in developing a
hand rehabilitation device is that traditional robotic devices
use actuators that are less compliant than the joints
themselves [17], [18]. These devices tend to be heavy-weight
and difficult to operate, minimizing patient use of these
devices; especially in personal settings. To solve these
7
 challenges, it has been proposed that the design of a soft
wearable robotic device for hand rehabilitation could lead to
greater advances for assistive or augmented activity in the
home by providing safer and lower cost human-robot
interactions [19].
This paper describes the design of a soft pneumatic robotic
glove intended for stroke rehabilitation. The glove can control
all five fingers by using compressed air to position or force
control by the controller. The objective of this device is to
have the ability that helps stroke-patient treatment and restore
hand function.
II. DESIGN
The soft robotic glove is a workstation designed for
patients in need of upper limb rehabilitation. We aimed for
this glove to be lightweight and comfortable using fabric for
the exoskeletons and elastomers for the soft fingers. The
rehabilitation glove is a pneumatically actuated system. Air
pressure creates momentum to flex fingers, focuses on
supporting finger joint mobilization to close the hand. In
contrast, due to the elastic nature of the material, soft fingers
will straighten when in the free state. The flaccid finger
returns to the extended state and opens the patient's hand.
These two movements are repeated during rehabilitation
therapy to encourage neuroplasticity to rehabilitate hand
movement for patients affected after a stroke.
A. Design Soft Finger
Figure 1. Kinematic configuration of the human hand [17].
The human hand has a total of 24 degrees of freedom (DoF)
[20], shown in fig 1 for the skilful and complex movements of
people in everyday life. The joints mentioned above all have a
range of flexion and extension called the range of motion
(ROM) of that joint [21]. To the sick hand can move skillfully,
the device must support all DoF of the human hand (24 DoF).
In other words, the device must have a total of 24 independent
operating actuators. Thus, too many actuators lead to
excessive device weight and size, as well as control
complexity. Therefore, it is necessary to choose the right DoF
so that the hand can perform hand rehabilitation, namely grip
and straighten the hand according to the range of motion of the
fingers. From there, the device primarily impacts on 3 DoFs
flexion of each finger ( index, middle, ring, and little finger)
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and two flexion DoF and one rotational DoF (combined
flexion and abduction) around the carpometacarpal (CMC)
wrist of the thumb to support the movement grip and
straighten.
A healthy subject can generate a maximum grip force of
300N for women and 450 for men [22]. However, post-stroke
sequelae cause this value to drop significantly and can be close
to zero depending on the severity of the sequelae [22]. Hence,
soft fingers do not necessarily generate the maximum grip
strength of a healthy subject. Finally, to effectively support
and rehabilitate the patient after a stroke, the glove must meet
the speed allowed for the rehabilitation exercise. We have
targeted 20 openings and closings of the fingers per minute to
be enough for rehabilitation exercises. In addition, gloves can
help patients practice grasp up objects that do not weigh more
than 200g.
B. Soft pneumatic network actuators
The soft actuators presented in this work are air chambers
arranged in succession. As shown in fig. 2. These soft fingers
are used inexpensive elastic material. So they can be quickly
custom-designed to fit patients' fingers. We recommend one
size of the soft finger has overall dimensions of 102 mm x 22
mm x 15 mm (L x W x H) based on the anatomy of a male
patient about 65 years old. That soft finger includes four parts
such as air chamber, pneumatic supply, cover 1and cover 2.
The diameter of the pneumatic pipe into the finger is 4 mm.
Figure 2. Design of the soft finger: (a) an isometric view, (b) a top view, (c)
a side view, (d) a section A–A, (e) a section B–B, and (f) a section C–C.
The design of the soft finger has 12 air chambers, in which
the last chamber has the widest compartment. Eleven smaller
air chambers have a wall thickness of 1.5 mm. The largest air
chamber has a wall thickness of 3 mm. This wall makes the
finger end stiffer than the rest part to mimic the function of a
fingernail. The distance between two outside walls of two
consecutive air chambers is 1 mm when pumping pressure to
the soft fingers. In the meantime, the volumes of these
chambers rise to create the curved profiles of the fingers (Fig
3).
 Figure 3. Cross-section of two air chambers, (a) before inflating, (b) after
inflating [23].

C. Design Soft Robotic Glove for Hand Rehabilitation

The structure of the device includes a right-hand glove
with five pneumatic fingers and the exoskeleton using fabric. (a)
Previous gloves have set a design requirement of 500g for all
components on the patient's hand [21]. Choosing soft fingers
for actuation due to is more compact and lighter than rigid
devices. Those fingers interconnect, the assistance of each
finger cannot be achieved independently. After fixing soft
fingers on the right-hand glove (Fig 4), we obtained a soft
robotic glove for rehabilitation hand. Then by injecting
compressed air into the soft fingers and manipulating them for
each patient. We used an alignment loop to fix the placement
of the soft fingers. Fastening with an alignment loop is
comfortable and safe for the patient but still allows the soft
(b)
fingers to touch the sick fingers.
Figure 5. Fabrication patterned Profiles: (a) 3D printed moulds (b) soft
finger fabrication summary.

There are two ways of bubble reduction after mixing the

mixture. The first way waits about 5 to 7 minutes and removes
the parts from the mould and the second way sucks the bubble
in a vacuum suction machine with an approximate pressure of
−70 kPa. We waited a short time for air bubbles to emerge and
remove them with a sharp object. In step 3, the mixed liquid
rubber mixture is poured into the mould and waited for 6 to 8
hours. After curing, the chamber, cover one and cover two.
They were then bonded by the same liquid rubber, one on top
of another. It had completed the fabrication of the soft finger.
Figure 4. Exploded view of the soft pneumatic robotic glove for hand
Finally, fixing soft fingers on the right-hand glove with
rehabilitation alignment loop and soft finger pocket. The soft pneumatic
robotic glove for hand rehabilitation has completed fabricating
III. FABRICATION as shown in Fig. 6.
Based on the principle of supplying compressed air to
pre-stressed soft fingers, we fabricated the mould by using the
Anycubic i3 Mega 3D printer (Anycubic). Then the silicone
Platinum in liquid was poured into the fabricated mould and
waited until this silicone became solid. In this scenario, we
have not yet used the 3D printing method to fabricate the soft
fingers to avoid the risk of air leakage in the printed products.
Macking such fingers are made by die-casting. It is a popular
method nowadays [24], [25]. We designed the mould on CAD
software, then printed it in the Anycubic i3 Mega 3D printer
(Anycubic, China) using PLA material (Fig. 5a).
The fabrication process consists of several steps shown in Fig.
5(b). In Step 1, we assembled the soft finger mould. In the next
step, Silicone Platinum in 1:1 A, B ratio was mixed and
degassed. Figure 6. The soft pneumatic robotic glove for hand rehabilitation

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 IV. EXPERIMENTS
A. Experimental Setup
We conducted the experiments to evaluate the bending
curve and the force value for a single finger. In the
measurements, we used the Arduino Uno R3 with a flex sensor
and a load cell sensor integrated inside the soft pneumatic
actuator shown in Fig. 7. We mount the flexible finger to the
base frame and touch the load cell to measure the force value.
For measuring the bending angle, we replaced the load cell
sensor and experimented.

Figure 8. Force – Pressure relationship of a soft pneumatic actuator.

The points in the curve were from the ten experiments in

which we got the average value. We used Microsoft Excel to
interpolate the formula and draw the spline. The relationship
between the force and the air pressure is almost nonlinear.
C. Bending Angle of Single Soft Robotic Finger

Figure 7. Experiment setup.

B. Finger Force of a Single Soft Robot

We conducted this experiment to measure the force of the
single soft pneumatic finger by using the load cell sensor and
pressure meter. Because the Arduino board controls all
devices, it reads the voltage signal of a variable resistor. Then
Arduino's pin trigged out the pulse width modulation signal to
the MOSFET driver to control the air pump motor. This
experiment used a load cell sensor to measure the force of the
soft finger corresponding with the air pressure. We adjusted
both the flow control valve and the variable resistor to achieve
the desired pressure from 0,1 bar to 1.2 bar with an increasing
step of 0.1 bar each time. Also, the Arduino reads the obtained
force value and displays it on the 16x02 LCD screen.
We did this experiment in ten trials to get the precise
value. Then, we calculated the average value from those tests
to get the result in Fig. 8. The result showed that the
relationship between the air pressure and the force is nearly
linear from 0 bar to 0.55 bar and from 0.85 bar to 1.2 bar. You
can follow the formula shown in the line chart to calculate
your desired pressure to identify the nearest force. At the 2
bar pressure, the soft actuator started to leak, and when the
pressure was at 2 bar in a short time, the seal faces between
the cover and the chamber broken. Three flexible fingers
were tested and achieved nearly the same results.
Figure 9. Bending angle – Pressure relationship of a soft actuator
The experiments were conducted to measure the bending
angle of a single soft robotic finger by using the flex sensor
2.2" and an air pressure meter (KK GAUGES) in Fig. 7. The
flex sensor changes its resistance value when it is bent. So, we
based on the physical characteristic of the flex sensor to
measure the bending angle of the elastic actuator when to
adjust the air pressure. The flex sensor was integrated inside
the soft actuator and sealed on a patterned profile cover. The
Arduino board read the analogue signal output of the flex
sensor and converted it to a digital signal. We adjusted the
flow control valve to achieve the desired pressure from 0.1 bar
to 1.1 bar with an increasing amount of 0.1 bar each time.
Then the 16x02 LCD screen displayed the values of the
bending angle. The result in Fig. 9 was obtained with five
experiments. We calculated the average value of those tests to
get the result.

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 to expose the palm because if we wear closed gloves for a
a b long time, our hands will generate heat and sweat. It causes
discomfort to the users.

Figure 10. The largest bending angle (a), human index finger (b)

The maximum bending angle of a single soft actuator is

approximately 180 degrees (Fig. 10a). Also, this value is
nearly the same as human fingers (Fig. 10b). It impacts the
extension and the flexibility of the fingers. The best element of
the soft pneumatic finger can suffer in any environment
because it is not influential on the temperature, humidity, dirt.

D. The Response Time of a Soft Actuator Figure 12. The control system of a soft pneumatic robotic glove

We designed the control board (Fig. 12) based on the soft

robotic toolkit. It can be programmable by using
STM32F103C8T6 Blue Pill to control the valve, read the air
pressure from the MPXH6400AC6T1 pressure sensor from
pin A0 and display the pressure value onto the 1602 LCD
screened by I2C protocol. The purpose of this board in this test
is to control the valve to switch on and off the soft robotic
glove to do the exercise of hand rehabilitation. This board can
adjust the air-compressed motor's pressure by PWM signal to
the tip122c transistor. The soft glove is programmed and
controlled to contract continuously in a controllable cycle. We
Figure 11. The response time when supplying air pressure to the actuator. can easily control the grasping force of the elastic pneumatic
finger by adjusting the flow control valve to change the
We did the experimental test with a single soft finger for supplied air pressure.
the stable test and the response time. We conducted this test
with a flex sensor inside the soft actuator and supplied 0.8 bar TABLE I. THE OBJECTS FOR THE GRASPING TEST
air pressure to the actuator. The result shown in Fig. 11
indicates that the response time is fast with time 1 is inflation Name Weight Result
and time 2 is deflation, approximately 150 milliseconds for Screwdriver 30 g Success
deflation and inflation time. We can control the response time Raspberry Pi 100 g Success
by adjusting the flow control valve and the air pressure of the Battery box 150 g Success
pump motor. The response time indicated that how fast your Camera 220 g Success
actuator adapts to the environment of the fingers.
E. The Robotic Glove Control
In this study, we use two solenoid valves having one input
and one output. The outputs of these two valves and the input
of the soft actuator are connected. We connect the input of a
valve to the air pump motor, and the other valve connects
with a vacuum source to reduce the deflation time of the soft
actuator. We use the touch sensors to simplify the
experimental control model. If we touch the number 1 on the
sensor, the solenoid valve will open, then the air pump motor
will start pumping air pressure. If we press the number 2 on
the sensor, the pump motor will stop. Then, the solenoid
valve will release air, and the glove will return to the original
position. We supply air pressure to five fingers so they will Figure 13. The soft robotic glove in Inflation (a), Deflation (b), Grasping a
screwdriver (c), a Raspberry Pi 3 (d), a battery box (e), a camera (f)
open and close palm at the same time. We designed the glove

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 The purpose of this experiment is the ability of the soft
pneumatic robotic glove to hold objects. The experimental
target used in the test has different sizes and weights. The trial
of grasping and holding targets weighing from 30 grams to
500 grams with different shapes and sizes. Experimental
results show that the soft pneumatic robotic glove lifts small
and medium-sized objects from 30 grams to 220 grams.
However, for a heavy target weighing 500 grams, we can still
maintain lifting the object in a short time (about 5 seconds)
because its weight is larger than the soft fingers pressure
force.
V. CONCLUSION
This paper presented a soft pneumatic robotic glove for
hand rehabilitation for stroke patients after a stroke. We did
the experiments with soft fingers to figure out the force and
the largest bending angle. The soft fabric glove was
connected with the soft finger by elastic wire. Each soft
pneumatic finger can achieve high force with high pressure
for hand contractility. A soft robotic glove is highly safe for
people than a robotic hand with rigid links and lighter weight
with the same function. In the future, soft gloves could be
developed that can grasp anything for the people that lost the
handling ability.
In conclusion, hand rehabilitation will bring many benefits
to stroke patients with high recovery ability. Therapeutic
exercises will help patients in many aspects such as
psychology and preventing stroke recurrence.
ACKNOWLEDGEMENT
This research.is funded by Vietnam National University
HoCHiMinh City (VNU-HCM) under grant number
C2020-20-07.
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