Soft Exoskeleton Glove

We introduce a novel soft exoskeleton glove, which is capable of generating human-like finger joint movements with little constraints on volitional motions. Four pneumatic artificial muscles (approx. 2.5 mm in diameter weight and less than 2 g) were attached to each finger, which consists of two antagonistic pairs of the muscles (i.e. flexor and extensor) and thereby enables to control different joints of each finger independently. Implementation of this structure for all five digits resulted in the hand ex