Design and Development of a Nylon Based Actuator for Use in a Soft Robotic Glove

This research develops a nylon-based actuator for a soft robotic glove to assist users with impaired hand strength, such as stroke or arthritis patients. Traditional soft robotic gloves are bulky or, in the case of pneumatic systems, limited by power source requirements. This study aims to create a lightweight solution using twist and coiled polymers (TCP), specifically nylon fishing wire, to assist finger movement through thermal contraction. A prototype glove integrating the artificial muscle and a heating element was designed to aid finger movement, with a heat-resistant glove ensuring safety. Braided nylon wire muscles showed promising tensile and contraction test results, demonstrating flexibility and strength, with an optimal activation temperature of 100°C. Controlled by an Arduino Uno, the heating element effectively activated the artificial muscles for finger movement. This work presents a significant step towards creating more accessible and effective soft robotic gloves, potentially benefiting individuals with hand mobility issues in therapeutic and everyday contexts.