Title :
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
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;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4673-6022-7
DOI :
10.1109/ICORR.2013.6650414
