Abstract
This paper presents a novel mechatronic exoskeleton architecture for finger rehabilitation. The system consists of an underactuated kinematic structure that enables the exoskeleton to act as an adaptive finger stimulator. The exoskeleton has sensors for motion detection and control. The proposed architecture offers three main advantages. First, the exoskeleton enables accurate quantification of subject-specific finger dynamics. The configuration of the exoskeleton can be fully reconstructed using measurements from three angular position sensors placed on the kinematic structure. In addition, the actuation force acting on the exoskeleton is recorded. Thus, the range of motion (ROM) and the force and torque trajectories of each finger joint can be determined. Second, the adaptive kinematic structure allows the patient to perform various functional tasks. The force control of the exoskeleton acts like a safeguard and limits the maximum possible joint torques during finger movement. Last, the system is compact, lightweight and does not require extensive peripherals. Due to its safety features, it is easy to use in the home. Applicability was tested in three healthy subjects.
Highlights
Patients suffering from impaired hand functionality are severely disadvantaged in performing activities of daily living (Birch et al, 2008; Wang et al, 2009; Heo et al, 2012; Cempini et al, 2015; Conti et al, 2017; Yue et al, 2017)
complex regional pain syndrome (CRPS) patients suffer from spontaneous, deep-seated pain and are often severely hypersensitive to stimuli or touch
KG (2012), Jo and Bae (2017) by adding angular position sensing to the kinematic structure and a bidirectional electric linear actuator coupled to a force sensor
Summary
Patients suffering from impaired hand functionality are severely disadvantaged in performing activities of daily living (Birch et al, 2008; Wang et al, 2009; Heo et al, 2012; Cempini et al, 2015; Conti et al, 2017; Yue et al, 2017). According to Heo et al (2012), typical examples are neuromuscular diseases, damage to the hand due to injuries, restricted motor functions as a result of a stroke, and age-related limitations. Another condition that affects hand functionality is complex regional pain syndrome (CRPS). Conventional therapy is time-consuming and often leads to unsatisfactory results because patients are discharged from the hospital too early, therapists are not available in sufficient numbers, and the overall financial burden is high (Epstein et al, 2008; Elsamadicy et al, 2017) For this reason, there are efforts to restore or at least improve hand functionality through the use of robotic rehabilitation systems. We provide a mathematical model to represent the actuation forces on the load in the finger joints
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