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Active exercise is one of effective therapy in rehabilitation. In this paper an exoskeleton device for active wrist rehabilitation is proposed. A force model for the wrist mechanism of DULEX-II [7] is presented, and its control system for active exercise is designed based on the force model. In experiments the performance of the force control system was verified. From the results we show a possibility...
This paper proposes a lightweight prosthetic hand with five fingers that are driven by contraction force of shape memory alloy (SMA). Each finger is composed of SMA-wire mechanism similar to the muscle-tendon structure of human. Finger flexion is performed by contraction force of SMA, but its extension is carried out by a restoring force of a spring mounted on the backside of finger. The developed...
This paper proposes a data glove for a rehabilitation robot interface for the upper-extremity paralysis. The designed data glove uses seven flexible sensors to measure the flexion angles of fingers and wrist. We verified the performance of the data glove using a 3D graphic interface from we developed. From experimental results, we show the proposed data glove is feasible to sense the hand motions...
This paper proposes a wearable rehabilitation robot for upper-limb paralysis. The rotation center of robot was matched to the user's joints by applying parallel mechanism. The robot has 3 degrees of freedom: index finger, three other fingers and wrist. The weight of robot was reduced by using artificial muscle. From the experimental result, we show the maximum extension angle of proximal phalange...
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