Development of a novel robotic system for hand rehabilitation

Raabe, D.; Tzemanaki, Antonia; Dogramadzi, Sanja

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. © 2011 IEEE.

• Presentation Conference Type: Conference Paper (published)
• Publication Date: Sep 26, 2011
• Deposit Date: Sep 18, 2013
• Publicly Available Date: Feb 18, 2016
• Journal: Proceedings - IEEE Symposium on Computer-Based Medical Systems
• Peer Reviewed: Peer Reviewed
• Pages: 1-6
• Book Title: 2011 24th International Symposium on Computer-Based Medical Systems (CBMS)
• DOI: https://doi.org/10.1109/CBMS.2011.5999150
• Keywords: MATLAB, UGS NX6 software, finger-joints, kinematic-dynamic models, kinetic problems, natural human hand movements, robotic system, six-DoF motion capture system
• Public URL: https://uwe-repository.worktribe.com/output/961519
• Publisher URL: http://dx.doi.org/10.1109/CBMS.2011.5999150
• Additional Information: Title of Conference or Conference Proceedings : 2011 24th International Symposium on Computer-Based Medical Systems (CBMS)
• Contract Date: Feb 18, 2016