A haptic knob for rehabilitation of hand function

被引:132
|
作者
Lambercy, Olivier [1 ]
Dovat, Ludovic
Gassert, Roger
Burdet, Etienne
Teo, Chee Leong
Milner, Theodore
机构
[1] Natl Univ Singapore, Dept Mech Engn, Singapore 119260, Singapore
[2] Univ London Imperial Coll Sci Technol & Med, Dept Bioengn, London SW7 2AZ, England
[3] Simon Fraser Univ, Sch Kinesiol, Burnaby, BC V5A 1S6, Canada
关键词
hand function; haptic knob; human-oriented; mechatronic design; robotic rehabilitation;
D O I
10.1109/TNSRE.2007.903913
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
This paper describes a novel two-degree-of-freedom robotic interface to train opening/closing of the hand and knob manipulation. The mechanical design, based on two parallelogram structures holding an exchangeable button, offers the possibility to adapt the interface to various hand sizes and finger orientations, as well as to right-handed or left-handed subjects. The interaction with the subject is measured by means of position encoders and four force sensors located close to the output measuring grasping and insertion forces. Various knobs can be mounted on the interface, including a cone mechanism to train a complete opening movement from a strongly contracted and closed hand to a large opened position. We describe the design based on measured biomechanics, the redundant safety mechanisms as well as the actuation and control architecture. Preliminary experiments show the performance of this interface and some of the possibilities it offers for the rehabilitation of hand function.
引用
收藏
页码:356 / 366
页数:11
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