A general framework for a rehabilitative oriented haptic interface

A general framework for virtual rehabilitation was developed. All the features of the framework, such as the control loop and the external communication, as well as the haptic and graphic rendering, were implemented inside Matlab/Simulink using Handshake proSENSE toolbox, guaranteeing a real-time performance. As an example of the application of the proposed general framework, a five-bar linkage haptic device with two active degrees-of-freedom was designed and integrated within the proposed framework. It was developed in order to cover the reachable workspace of a human finger, to have low inertia and high manipulability. It can generate forces up to 20 [N], which is suitable for finger and hand exercise. The system was evaluated and tested successfully. A case study and their results are presented. These results are indicative on the feasibility of the proposed application.