A design of fine motion assist equipment for disabled hand in robotic rehabilitation system

This paper reports a newly designed system intended to aid in hand rehabilitation. The motion assistance equipment consists of three parts: mechanisms for the fingers and thumb, a base of these mechanisms, and a motion assistance mechanism for the wrist. The structure of each mechanism is designed t...

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Bibliographic Details
Published in:Journal of the Franklin Institute 2011-02, Vol.348 (1), p.79-89
Main Authors: Ito, Satoshi, Kawasaki, Haruhisa, Ishigure, Yasuhiko, Natsume, Masatoshi, Mouri, Tetsuya, Nishimoto, Yutaka
Format: Article
Language:English
Subjects:
Hand
Mechanism
Motion assistance
Rehabilitation
Robot system
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Summary:This paper reports a newly designed system intended to aid in hand rehabilitation. The motion assistance equipment consists of three parts: mechanisms for the fingers and thumb, a base of these mechanisms, and a motion assistance mechanism for the wrist. The structure of each mechanism is designed to achieve independent, fine motion assistance, especially, for the individual fingers. First, the features of each mechanism in the equipment are explained. Next, the control systems are introduced, which are constructed to realize a self-motion control strategy (i.e., the motion is controlled by its user). Using this control system, the transient response and steady state characteristics of the motion assistance mechanisms for the thumb are evaluated. Consequently, the possibility of practical application is found in regard to some improved points.
ISSN:0016-0032
1879-2693
DOI:10.1016/j.jfranklin.2009.02.009