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Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation

AutorWolbrecht, Eric T.; Reinkensmeyer, David J.; Perez-Gracia, Alba
Fecha de publicación2011
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE International Conference on Rehabilitation Robotics: 1-6 (2011)
ResumenThis 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 finger-thumb 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.
DescripciónTrabajo presentado al ICORR 2011 celebrado en Zurich del 29 de junio al 1 de julio.
Versión del editorhttp://dx.doi.org/10.1109/ICORR.2011.5975427
URIhttp://hdl.handle.net/10261/96871
DOI10.1109/ICORR.2011.5975427
Identificadoresdoi: 10.1109/ICORR.2011.5975427
isbn: 978-1-4244-9861-1
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