Development of an active and passive finger rehabilitation robot using pneumatic muscle and magnetorheological damper

Wang, Daoming; Wang, Yakun; Zi, Bin; Cao, Zixiang; Ding, Huafeng

doi:10.1016/j.mechmachtheory.2019.103762

Cited by 45 publications

(21 citation statements)

References 47 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Popov et al 12 presented a compact light exoskeleton using a soft structure for hand assistance in daily activities. Wang et al 13 proposed a configuration that combines pneumatic actuators and magnetorheological materials to implement different functional modes. Li et al 14 presented a compliant finger exoskeleton using superelastic transmissions based on the development of new materials.…”

Section: Introductionmentioning

confidence: 99%

“…14 The needs and expectations must be fulfilled with different criteria such as safety, a good range of motion, ergonomic usability, transportability and wearability, and a proper autonomy time, as also pointed out in ref. 13 A specific research line is addressed on integrating new concepts in the development of exoskeletons for motion assistance as reported in ref. 21 referring to considerations of comparable hand velocity and torque when doing everyday tasks.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A prototype characterization of ExoFinger, a finger exoskeleton

Ceccarelli

Morales-Cruz

2021

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article presents an experimental characterization of ExoFinger, a finger exoskeleton for finger motion assistance. The exoskeletal device is analyzed in experimental lab activities that have been conducted with different users to characterize the operation performance and to demonstrate the adaptability of the proposed device. The behavior of this device is characterized in detail using sensors to measure finger motion and power consumption. Sensor measures also demonstrate the given motion assistance performance in terms of an electrical finger response and finger temperature by resulting in an efficient solution with a large motion range of a finger in assistance of recovering finger motion.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A prototype characterization of ExoFinger, a finger exoskeleton

Ceccarelli

Morales-Cruz

2021

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…In [33], the authors develop a single finger exoskeleton robot that can provide active and passive rehabilitation. The proposed system is driven by an antagonistic two pneumatic muscles (PMs); the transmission mechanism is based on cable transmission and differential rotation, which drives a diseased rotation to mechanical wheels which linked all the finger joints proximal (1) interphalanx; (PIP), (2) middle interphalanx (MIP); (3), and distal interphalanx (DIP).…”

Section: Appl Sci 2021 11 X For Peer Review 3 Of 23mentioning

confidence: 99%

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Almusawi

Husi

2021

Applied Sciences

View full text Add to dashboard Cite

Impairments of fingers, wrist, and hand forearm result in significant hand movement deficiencies and daily task performance. Most of the existing rehabilitation assistive robots mainly focus on either the wrist training or fingers, and they are limiting the natural motion; many mechanical parts associated with the patient’s arms, heavy and expensive. This paper presented the design and development of a new, cost-efficient Finger and wrist rehabilitation mechatronics system (FWRMS) suitable for either hand right or left. The proposed machine aimed to present a solution to guide individuals with severe difficulties in their everyday routines for people suffering from a stroke or other motor diseases by actuating seven joints motions and providing them repeatable Continuous Passive Motion (CPM). FWRMS approach uses a combination of; grounded-exoskeleton structure to provide the desired displacement to the hand’s four fingers flexion/extension (F/E) driven by an indirect feed drive mechanism by adopting a leading screw and nut transmission; and an end-effector structure to provide angular velocity to the wrist flexion/ extension (F/E), wrist radial/ulnar deviation (R/U), and forearm supination/pronation (S/P) driven by a rotational motion mechanism. We employed a single dual-sided actuator to power both mechanisms. Additionally, this article presents the implementation of a portable embedded controller. Moreover, this paper addressed preliminary experimental testing and evaluation process. The conducted test results of the FWRMS robot achieved the required design characteristics and executed the motion needed for the continuous passive motion rehabilitation and provide stable trajectories guidance by following the natural range of motion (ROM) and a functional workspace of the targeted joints comfortably for all trainable movements by FWRMS.

show abstract

“…A rehabilitation device can be actuated by electric motors [16], hydraulic [17], pneumatics [18]- [20], smart materials [21]- [25], and passive elements such as springs. Pneumatic Artificial Muscle (PAM) is a pneumatic actuator consisting of an internal bladder that can stretch as the air enters and returns back to its original shape once the air leaves.…”

Section: Introductionmentioning

confidence: 99%

Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

Lone

Azlan

Kamarudzaman³

2021

IJRCS

View full text Add to dashboard Cite

A huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging. The use of robotics for limb rehabilitation can assist patients to recover faster and reduce therapist to patient ratio. However, the main problems with current rehabilitation robotics are the devices are bulky, complicated, and expensive. The utilization of pneumatic artificial muscles in a rehabilitation system can reduce the design complexity, thus, making the whole system light and compact. This paper presents the development of a new 2 degree of freedom (DOF) wrist motion and thumb motion exoskeleton. A light-weight 3D printed Acrylonitrile Butadiene Styrene (ABS) material is used to fabricate the exoskeleton. The system is controlled by an Arduino Uno microcontroller board that activates the relay to open and close the solenoid valve to actuate the wrist. It allows the air to flow into and out of the pneumatic artificial muscles (PAM) based on the feedback from the sliding potentiometer. The mathematical model of the exoskeleton has been formulated using the Lagrange formula. A Proportional Integral Derivative (PID) controller has been implemented to drive the wrist extension-flexion motion in achieving the desired set-points during the exercise. The results show that the exoskeleton has successfully realized the wrist and thumb movements as desired. The wrist joint tracked the desired position with a maximum steady-state error of 10% for 101.45ᵒ the set point.

show abstract

Development of an active and passive finger rehabilitation robot using pneumatic muscle and magnetorheological damper

Cited by 45 publications

References 47 publications

A prototype characterization of ExoFinger, a finger exoskeleton

A prototype characterization of ExoFinger, a finger exoskeleton

Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System

Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

Contact Info

Product

Resources

About