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

AuthorsWolbrecht, Eric T.; Reinkensmeyer, David J.; Perez-Gracia, Alba
Issue Date2011
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Rehabilitation Robotics: 1-6 (2011)
AbstractThis 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.
DescriptionTrabajo presentado al ICORR 2011 celebrado en Zurich del 29 de junio al 1 de julio.
Publisher version (URL)http://dx.doi.org/10.1109/ICORR.2011.5975427
Identifiersdoi: 10.1109/ICORR.2011.5975427
isbn: 978-1-4244-9861-1
Appears in Collections:(IRII) Libros y partes de libros
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