IPMC tape: Actuated athletic tape for motion and force assistance

Wearable robotic hand orthoses have been shown to improve grasp kinematics and task performance. However, these devices often have multiple usability issues related to their weight, size, backdrivability, and tethers to power storage and actuation units. Our team has designed an all-in-one robotic orthosis that can be adhered directly to the finger and applies assistive bending and extension forces. The robot is composed of an ionic polymer-metal composite (IPMC) actuator that is flexible, slim and lightweight, a lithium-polymer battery and a Bluetooth microcontroller. In free space, the IPMC actuator moved approximately 70 degrees in bending in four seconds and drew a maximum current of 100mA at 3.77V. Once unpowered the IPMC actuator returned to its initial position. The IPMC was not able to generate the force required to lift a 2.3g weight at 20mm (0.45mN.m). Future work is required to increase the force capacity of IPMC Tape to provide useful assistance.