Title :
Exoskeleton Design of an Intelligent Haptic Robotic Glove
Author :
Popescu, Nirvana ; Popescu, Dan ; Ivanescu, Mircea ; Popescu, Dan ; Vladu, Cristian ; Berceanu, Cosmin ; Poboroniuc, Marian
Author_Institution :
Comput. Sci. Dept., Univ. Politeh. of Bucharest, Bucharest, Romania
Abstract :
This paper is based on the results of a research project regarding the design and development of an Intelligent Haptic Robot-Glove (IHRG) for the rehabilitation of the patients that have a diagnosis of a cerebrovascular accident. The IHRG is an exoskeleton that supports the human hand and hand activities by using a control architecture for dexterous grasping and manipulation. The five-fingered assistive robotic glove is designed with mechanical compliance of human finger. The biomechanical elements of the exoskeleton assistive hand are designed considering: motion in different planes, adapted to patient´s hand, possible to train pinch and grasp, opening/closing game. The actuation system is also studied and designed. The paper provides an overview of hand rehabilitation and evaluation techniques.
Keywords :
data gloves; dexterous manipulators; intelligent robots; medical robotics; patient diagnosis; patient rehabilitation; IHRG; actuation system; cerebrovascular accident diagnosis; control architecture; dexterous grasping; dexterous manipulation; evaluation techniques; exoskeleton assistive hand biomechanical elements; exoskeleton design; five-fingered assistive robotic glove; grasp training; hand rehabilitation; human finger mechanical compliance; intelligent haptic robotic glove; opening-closing game; patient hand adaptation; patient rehabilitation; pinch training; plane motion; Computer architecture; Exoskeletons; Joints; Mathematical model; Robots; Thumb; actuation system; control architecture; exoskeleton; intelligent robotic glove;
Conference_Titel :
Control Systems and Computer Science (CSCS), 2013 19th International Conference on
Conference_Location :
Bucharest
Print_ISBN :
978-1-4673-6140-8
DOI :
10.1109/CSCS.2013.21