Title :
Development of a novel robotic system for hand rehabilitation
Author :
Tzemanaki, A. ; Raabe, Dierk ; Dogramadzi, Sanja
Author_Institution :
Bristol Robot. Lab., Univ. of the West of England, Bristol, UK
Abstract :
Rehabilitation Robotics involves the use of robotic systems as an enabling technology for people with kinetic problems, in order to help them recover from a physical trauma. This paper presents the investigation of a robotic system for stroke and post hand-surgery patient rehabilitation, in order to gradually regain flexibility in their finger-joints by passively extending and flexing their fingers. It includes one linear actuator for each finger and a thin-film force sensor at each fingertip as a safety measure against overstraining the finger-joints. Prior to designing the system, kinematic and dynamic models of a human hand have been derived and simulated in MATLAB. Data obtained from this model show a strong correlation to natural human hand movements, recorded in this study using a 6 DoF motion capture system. Design of the robotic system is performed using UGS NX6 software.
Keywords :
medical robotics; patient rehabilitation; robot dynamics; robot kinematics; MATLAB; UGS NX6 software; finger-joints; kinematic-dynamic models; kinetic problems; natural human hand movements; physical trauma; post hand-surgery patient rehabilitation; robotic system; six-DoF motion capture system; Actuators; Fingers; Joints; Read only memory; Sensors; Thumb; Trajectory;
Conference_Titel :
Computer-Based Medical Systems (CBMS), 2011 24th International Symposium on
Conference_Location :
Bristol
Print_ISBN :
978-1-4577-1189-3
DOI :
10.1109/CBMS.2011.5999150