Development of a novel robotic system for hand rehabilitation
Tzemanaki, A. , Raabe, D. and Dogramadzi, S. (2011) Development of a novel robotic system for hand rehabilitation. The 21st IEEE International Symposium on Computer-Based Medical Systems. pp. 1-6. ISSN 1063-7125
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Publisher's URL: http://dx.doi.org/10.1109/CBMS.2011.5999150
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.
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