Limb design with wearable soft robotic actuators for amputees

Amputation is a form of amputee in which a person's arms, legs, feet or hands are not partly or entirely absent or are subsequently taken away. Orthotics and prosthetics are used to keep Amputees' lives as normal people. Most prostheses can not exactly mimic the function and appearance of the lost limb, but can help a degree to one. Almost all of the anchoring limbs are made up of solid mechanical structures. For this reason, they are different from the lost limb in terms of function, feeling and appearance. In addition, it is troublesome and costly to make the functional fittings according to the individual. The purpose of this thesis is to produce and develop wearable actuators for the production of easier or cheaper orthoses or prostheses, which are more similar, less uncomfortable, more aesthetic, and easier to manufacture than the lost prostate by using soft robotic structures to achieve this problem. Within the scope of thesis, wearable prosthetic hand and wearable rehabilitation glove device was produced by using 3 different production methods. In denture hand production, first hand pliable filament wearable hand was produced with pneumatic silicone finger by cast molding method, secondly by sponge hand production by cutting method and thirdly by elastic connection with CAD / CAM production. Comparisons of these different types of prostheses have been made, and the results and suggestions have been mentioned in future studies.