A design of fine motion assist equipment for disabled hand in robotic rehabilitation system |
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Authors: | Satoshi Ito Haruhisa Kawasaki |
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Institution: | a Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan b Marutomi Seiko Co., Ltd, Ikuda 3147-7, Kurachi, Seki 501-3936, Japan c Facility Management Division, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan d School of Medicine, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan |
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Abstract: | This paper reports a newly designed system intended to aid in hand rehabilitation. The motion assistance equipment consists of three parts: mechanisms for the fingers and thumb, a base of these mechanisms, and a motion assistance mechanism for the wrist. The structure of each mechanism is designed to achieve independent, fine motion assistance, especially, for the individual fingers. First, the features of each mechanism in the equipment are explained. Next, the control systems are introduced, which are constructed to realize a self-motion control strategy (i.e., the motion is controlled by its user). Using this control system, the transient response and steady state characteristics of the motion assistance mechanisms for the thumb are evaluated. Consequently, the possibility of practical application is found in regard to some improved points. |
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Keywords: | Rehabilitation Robot system Hand Mechanism Motion assistance |
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