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Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation
Wolbrecht, Eric T.; Reinkensmeyer, David J.; Pérez Gracia, Alba
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
This paper presents the kinematic design of a single degree-of-freedom exoskeleton mechanism: a planar eight-bar mechanism for finger curling. The mechanism is part of a fingerthumb robotic device for hand therapy that will allow users to practice key pinch grip and finger-thumb opposition, allowing discrete control inputs for playing notes on a musical gaming interface. This approach uses the mechanism to generate the desired grasping trajectory rather than actuating the joints of the fingers and thumb independently. In addition, the mechanism is confined to the back of the hand, so as to allow sensory input into the palm of the hand, minimal size and apparent inertia, and the possibility of placing multiple mechanisms side-by-side to allow control of individual fingers
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robotics in medicine
Robòtica en medicina
Classificació INSPEC::Automation::Robots::Medical robotics
Attribution-NonCommercial-NoDerivs 3.0 Spain

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