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This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation...
In this paper, a grip amplified glove using pneumatic artificial rubber muscles (PARMs) which are covered with a exoskeleton structure is developed. A bi-articular mechanism with a PARM that is suitable for bending finger is realized. The glove has totally 10 DOFs consist of four units. To achieve power-assist motion properly, the PI control, which is based on the pressure value from the balloon sensor,...
During laparoscopic surgery, grasping of large body organs such as spleen, kidney, and liver, is a difficult task using conventional instruments. This paper describes the design and analysis of a novel actuated endoscopic grasper for manipulation of large internal organs. The designed instrument resembles a miniaturized three fingered hand with each finger consisting of two links. It could pass through...
A functional electrical stimulation (FES)-robot system controlled by subjects' motor intention was developed in our previous study. The effectiveness of the FES-robot on wrist training was investigated in this work. Five hemiplegic subjects with chronic stroke were recruited for an FES-robot assisted wrist training with 20 sessions. After the training, motor improvements were found in the wrist and...
Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stroke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven...
There is a lack of enough attention to the patients' hand posture. When robots implement assistive training, patients are often asked to grip a handle tightly, which may induce strong hand muscle contractions with the hand at an abnormal posture. If we ignore proper control of the muscle tension of subject's hand, the flexibility of hand/fingers may decrease and the robot training may potentially...
This paper presents progress towards the development of an anthropomorphic 16 degree of freedom, 4 degree of mobility prosthetic hand for use by transradial amputees, named SmartHand. The hand is provided with 40 proprioceptive and exteroceptive sensors in the fingers and with a customized control architecture embedded in the palm. The compact size and weight will allow its use to a wide range of...
The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limbpsilas motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties,...
The objective of this work is to study the EMG signals based on hand motions for specified tasks, and different gripping conditions so as to identify patterns of EMG signals. This will allow therapists to identify weak muscles of patients with motor weakness, such as spinal cord injury (SCI) and post-stroke and concentrate on rehabilitation activities which can strengthen these specific muscles. At...
The objective of this work is the study and analysis of the fundamental issues that constitute the development of a hand rehabilitation system by making use of mechanisms with systematic methodology for objective and quantitative assessment for patients with motor weakness, such as spinal cord injury (SCI) and post-stroke. The goal of the work is to use these assessment/measurement results efficiently,...
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...
This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The...
Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist can improve hand motor performance in patients survived from stroke and traumatic brain injury. However, the therapy process is long and expensive and difficult to evaluate quantitatively and objectively. The goal of this research is to develop a novel wearable...
This paper presents the design of a flexible, embedded control architecture for the action and perception of an anthropomorphic 16 degree of freedom, 4 degree of actuation prosthetic hand for use by transradial amputees. The prosthetic hand is provided with 40 structurally integrated sensors useful both for automatic grasp control and for biofeedback delivery to the user through an appropriate interface...
The objective of this work is first to present a study and analysis of fundamental issues that constitute the development of a hand rehabilitation system by making use of mechanisms for objective and quantitative assessment for patients with motor weakness, such as spinal cord injury (SCI) and post-stroke. The proposed rehabilitation system aims to improve the functional ability of impaired hand on...
Hard computing based optimization algorithms usually require a lot of computational resources and generally do not have the ability to arrive at the global optimum solution. Soft computing algorithms on the other hand negate these deficiencies, by allowing for reduced computational loads and the ability to find global optimal solutions, even for complex cost surfaces. This paper presents two numerical...
In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corresponding to each finger of human hand, the CPM machine has 4 degrees of freedom (DOF) driven by two DC motors. The joint force and position sensors are all integrated into the machine...
A parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robotpsilas kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in those patients with even a partial lack of the fingers functionality, for instance due to a stroke. As a result of its structural...
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