Finger rehabilitation system using multi-fingered haptic interface robot controlled by surface electromyogram

In this paper, a new type of finger rehabilitation system with multi-fingered haptic interface controlled by surface electromyogram (sEMG) is proposed. We have developed the multi-fingered haptic interface robot: HIRO III, which can give 3-directional forces to 5 fingertips. This robot also can be use as compact rehabilitation device that can give the various fingertip exercises to fingertips of patient. And the sEMG helps to consider the patient´s intent. In this proposal system, first the fingertip motions will be extracted from sEMG of patient, afterwards the motions as a biofeedback will be provided to the patient´s fingertips with the compact device. So differing from completely passive rehabilitation, the proposed system can give patient the active rehabilitation that reflects patient´s intent. In this paper, the pretests with this system by ten able-bodied subjects are introduced. The purpose of this pretest is to confirm that fingertips are moved along user´s intention in the case of healthy body. The result shows that almost subjects feel the appropriate motion support from the device.