Kinematics and design of a portable and wearable exoskeleton for hand rehabilitation

Author

Cempini, Marco ; De Rossi, Stefano M. M. ; Lenzi, T. ; Cortese, Mario ; Giovacchini, F. ; Vitiello, Nicola ; Carrozza, Maria

Author_Institution

BioRobotics Inst., Scuola Super. di Studi Univ. e di Perfezionamento Sant´Anna, Pisa, Italy

fYear

2013

fDate

24-26 June 2013

Firstpage

1

Lastpage

6

Abstract

We present the kinematic design and actuation mechanics of a wearable exoskeleton for hand rehabilitation of post-stroke. Our design method is focused on achieving maximum safety, comfort and reliability in the interaction, and allowing different users to wear the device with no manual regulations. In particular, we propose a kinematic and actuation solution for the index finger flexion/extension, which leaves full movement freedom on the abduction-adduction plane. This paper presents a detailed kineto-static analysis of the system and a first prototype of the device.

Keywords

human-robot interaction; medical robotics; motion control; patient rehabilitation; robot kinematics; abduction-adduction plane; actuation mechanics; comfort; device prototype; exoskeleton design; exoskeleton kinematics; full movement freedom; index finger extension; index finger flexion; kineto-static analysis; portable exoskeleton; post-stroke hand rehabilitation; reliability; safety; wearable exoskeleton; Exoskeletons; Joints; Kinematics; Mechanical cables; Pulleys; Robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on

Conference_Location

Seattle, WA

ISSN

1945-7898

Print_ISBN

978-1-4673-6022-7

Type

conf

DOI

10.1109/ICORR.2013.6650414

Filename

6650414