A novel exoskeleton robotic system for hand rehabilitation – Conceptualization to prototyping

• Autorzy: Iqbal J. , Khan H. , Tsagarakis N. G. , Caldwell D. G.

Identyfikatory

DOI

10.1016/j.bbe.2014.01.003

• Języki publikacji: EN

Abstrakty

EN

This research presents a novel hand exoskeleton rehabilitation device to facilitate tendon therapy exercises. The exoskeleton is designed to assist fingers flexion and extension motions in a natural manner. The proposed multi-Degree Of Freedom (DOF) system consists of a direct- driven, optimized and underactuated serial linkage mechanism having capability to exert extremely high force levels perpendicularly on the finger phalanges. Kinematic and dynamic models of the proposed device have been derived. The device design is based on the results of multi-objective optimization algorithm and series of experiments conducted to study capa- bilities of the human hand. To permit a user-friendly interaction with the device, the control is based on minimum jerk trajectory generation. Using this control system, the transient response and steady state behavior of the proposed device are analyzed after designing and fabricating a two-fingered prototype. The pilot study shows that the proposed rehabilita- tion system is capable of flexing and extending the fingers with accurate trajectories.

Słowa kluczowe

EN

hand rehabilitation; motion assistance; robotic exoskeleton; wearable robotics

PL

rehabilitacja ręki; wspomaganie ruchu; egzoszkielet robotyczny; robot ortotyczny

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2014
• Tom: Vol. 34, no. 2
• Strony: 79--89
• Opis fizyczny: Bibliogr. 40 poz., rys., tab., wykr.

Twórcy

autor

Iqbal J.

• Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy; Department of Electrical Engineering, COMSATS, Islamabad, Pakistan

autor

Khan H.

• Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy

autor

Tsagarakis N. G.

• Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy

autor

Caldwell D. G.

• Advanced Robotics Department, Istituto Italiano di Tecnologia (IIT), Genova, Italy

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