Design of Soft Robotic Actuation for Supporting Eyelid Closure Movement

We have been developing a facial wearable robot to support the eyelid movements of patients with facial paralysis, especially on one side of the face [1]. This robot has a mechanism for supporting eyelid movements, made from a soft material, which is called the eyelid gating mechanism (ELGM). The ELGM deforms by simple rotational actuation inputs and its deformation is customized to the eyelid movements. Therefore, this robot can provide non-invasive and gentle support for eyelid movements. We herein describe the design rule of the ELGM, and based on this, we conducted a deformation analysis with a non-linear finite element method. We verified the deformation trend from the results, and developed three prototypes based on this trend. Using these prototypes, we conducted a clinical study with facial paralysis patients to evaluate if the ELGM is capable of assisting in closing the eyelid.