Design of an exoskeleton for index finger rehabilitation

Wang, Ju; Li, Jiting; Zhang, Yuru; Wang, Shuang

doi:10.1109/iembs.2009.5334779

Cited by 61 publications

(38 citation statements)

References 7 publications

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“…These robotic devices have been developed for a variety of tasks, including gait rehabilitation (such as [5,6]) and upper extremity rehabilitation (see [7,8] for reviews). For hand rehabilitation, Wang et al [9] designed an exoskeleton based on 4 bar linkage for an index finger rehabilitation and Yihun et al [10] recently designed a non-anthropomorphic wearable device based on eight-bar linkage for thumb rehabilitation. Wearable devices and exoskeletons have also been designed and developed for the purpose of augmenting and amplifying the ability of humans (for reviews see [11,12]).…”

Section: Introductionmentioning

confidence: 99%

Geometric design of eight-bar wearable devices based on limb physiological contact task

Robson

Soh

2016

Mechanism and Machine Theory

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A B S T R A C TThis paper describes a geometric design method for the motion generation of mechanical wearable devices based on desired limb physiological contact task, parametrized by first and second order motion specifications. Specifically, our approach combines the higher order motion task specifications with anthropometric back-bone chain to synthesize planar eightbar linkages that achieve the desired motion task. The method is demonstrated by an example that offers a novel alternative approach for wearable devices design: a comprehensive systematic process to create devices, based on a backbone chain that is sized according to the physical dimensions of the human limb. Once it is ensured that the backbone chain motion is close to the physiological one, the rest of the multi-loop wearable device is designed. In the end of the process the wearable device is attached, so that the backbone chain parallels the human's limb itself to provide the skeletal structure for the limb yet passively follow its motion. This results in mechanical devices with compact size, minimal actuation and better wearability.

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Section: Introductionmentioning

confidence: 99%

Geometric design of eight-bar wearable devices based on limb physiological contact task

Robson

Soh

2016

Mechanism and Machine Theory

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“…Some use a cable drive system that induces significant friction, or have drive systems that are very stiff, and are therefore not adequately backdrivable [10]- [13]. Many also use attachment devices that do not leave the fingertips and/or palm open for tactile feedback [9], [10], [12]- [14], [16]. Some have features that can scale to different finger sizes [12], [13], [17], but they require many complex adjustments to affect a small change.…”

Section: Introductionmentioning

confidence: 99%

“…Many also use attachment devices that do not leave the fingertips and/or palm open for tactile feedback [9], [10], [12]- [14], [16]. Some have features that can scale to different finger sizes [12], [13], [17], but they require many complex adjustments to affect a small change. The HWARD robot lacks many of the previously mentioned deficiencies [17], but is not simple to adjust, and it could not be easily redesigned to assist with motions other than the power grasp.…”

Section: Introductionmentioning

confidence: 99%

Design Method for a Reconfigurable Mechanism for Finger Rehabilitation

Sands¹,

Pérez-Gracia²,

McCormack³

et al. 2010

IASTED Technology Conferences / 705: ARP / 706: RA / 707: NANA / 728: CompBIO

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This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link lengths is capable of reproducing a power grasp finger motion for a wide variety of finger sizes. This is accomplished through an optimization procedure that determines the parameters of the four-bar linkage needed to fit the sampled range of finger trajectories. The linkage is located behind the hand and attaches to the medial phalanx of the finger just above the distal interphalangeal joint. In addition, the mechanism is designed so that it does not interfere with finger motion and so that the subject's fingertips and palm are free to touch real objects and experience tactile feedback. In future implementations, the mechanism could be used for a single finger or in parallel with other similar mechanisms to exercise multiple fingers simultaneously. Although the specific application presented here is the four-bar mechanism and finger power grasp motion, the developed design methods may be applied to a much broader range of mechanisms and applications where scalability for human-machine interface is required.

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“…Tendon-driven exoskeletons can be usually designed with compact size and dexterous operation. However, these systems lead to friction and elasticity issues during operation [15][16][17] and are generally limited to small grasping forces. Linkage mechanisms on the other hand are preferable for applications in which high stability and large grasping forces are required [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Tan

Robson

Soh

2017

Journal of Mechanisms and Robotics

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This paper describes a dimensional synthesis method used in the design of a passive finger exoskeleton that takes into account the user limb anthropometric dimensions and contact requirements for grasping objects. The paper is the first step in our current efforts on the design of wearable devices that use a common slider at the hand to passively drive each exofinger. The finger exoskeleton is comprised of a 3R serial limb and is constrained to multiloop eight-bar slider mechanism using two RR constraints. To design the exolimb, the pose of the limb was captured using an optical motion capture and its dimensions were determined using a constrained least square optimization, which takes into account human skin movement. To illustrate the generality of our approach, an example of the design of an index and middle finger exolimb is described.

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Design of an exoskeleton for index finger rehabilitation

Cited by 61 publications

References 7 publications

Geometric design of eight-bar wearable devices based on limb physiological contact task

Geometric design of eight-bar wearable devices based on limb physiological contact task

Design Method for a Reconfigurable Mechanism for Finger Rehabilitation

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

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