Abstract

Rehabilitation Robotics involves the use of robotic systems as an enabling technology for people with kinetic problems, in order to help them recover from a physical trauma. This paper presents the investigation of a robotic system for stroke and post hand-surgery patient rehabilitation, in order to gradually regain flexibility in their finger-joints by passively extending and flexing their fingers. It includes one linear actuator for each finger and a thin-film force sensor at each fingertip as a safety measure against overstraining the finger-joints. Prior to designing the system, kinematic and dynamic models of a human hand have been derived and simulated in MATLAB. Data obtained from this model show a strong correlation to natural human hand movements, recorded in this study using a 6 DoF motion capture system. Design of the robotic system is performed using UGS NX6 software.

Highlights

  • Hands are the basic tool for physically manipulating the environment

  • Hand therapy has a crucial role in the recovery from hand injuries or surgical operations[3]

  • Range of Motion (ROM) activities are basic techniques that focus on motor control for evaluation of the movement as well as for therapy

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Summary

Introduction

Hands are the basic tool for physically manipulating the environment. After a stroke, gripping a glass or opening the fists is typically too hard to achieve. Stroke is the 2nd most common cause of death[1], [2] and the leading cause of severe adult disability worldwide. For those who survive, the recovery of neurological impairment takes place over a variable time interval. Hand therapy has a crucial role in the recovery from hand injuries or surgical operations[3]. The major disadvantage of home-based rehabilitation programs is a lack of specialised equipment. Easy-to-use domestic devices that help patients regain movement in their hands would constitute a huge step towards the direction of home-based rehabilitation. Using them either as a complementary method to the regular treatment or as the primary one would result in a faster recovery

Background
Mathematical model of a human hand
Fingers’ trajectories exploration
Concept design of the prototype
CAD and multi-body simulation
Manufacturing and commissioning of the prototype
Conclusions and future work
Findings
10. References
Full Text
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