Exoskeleton Design of an Intelligent Haptic Robotic Glove

This paper relays to a research project regarding the design and development of a Hybrid FES-mechanical Intelligent Haptic Robot-Glove (IHRG) for the rehabilitation of the patients who suffered a cerebrovascular accident (CVA). The IHRG is an exoskeleton that supports the human hand and hand activities by using control architectures for dexterous grasping and manipulation. The main aim is to develop a mechanical architecture consisting of a cascade of articulated elements, whose design covers as much as possible the anatomic and functional finger phalanges, providing support for the actuation system.

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“…4 [19]. It is easy to observe the configuration of each finger phalanx and the control mechanism developed as a "4-bar" system.…”

Section: The Architecture Of the Ihrg Mechanical Systemmentioning

confidence: 99%

Design of a hybrid FES-mechanical intelligent haptic robotic glove

Hartopanu

Poboroniuc

Serea

et al. 2013

2013 17th International Conference on System Theory, Control and Computing (ICSTCC)

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“…The joint angle will be denoted θ 1 , θ 2 and θ 3 and the angular velocities represented as 1   , 2   , and 3   (see Fig. 3 and 4, adapted from [10]).…”

Section: The Dynamic Modelmentioning

confidence: 99%

“…The age at which stroke occurs in Romania began to fall, many new cases being diagnosed under 40 years old [2]. Standard rehabilitation methods have not shown major improvements in restoring the normal upper limb motor functions for stroke patients.…”

Section: Introductionmentioning

confidence: 99%

Preliminary results on a hybrid FES-exoskeleton system aiming to rehabilitate upper limb in disabled people

Serea

Poboroniuc

Irimia

et al. 2013

2013 17th International Conference on System Theory, Control and Computing (ICSTCC)

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This paper presents the design and the development process of a hybrid FES-Exoskeleton (EXOSLIM) system intended for rehabilitation of the upper limbs in stroke patients. The present work is aiming to develop an exoskeleton that supports the human upper limb activities by using a control architecture for shoulder flexion and extension, abduction and adduction, medial and lateral rotation, elbow flexion and extension and forearm pronation and supination. The main goal is to develop an adaptable and modular exerciser, which follows one of the user upper limbs during the rehabilitation process, sparing training time and allowing fast adjustments to new situations and using any residual control of the end-user. These facts make the system suitable for long term utilization in daily activities. The exoskeleton is designed with mechanical compliance to the human arm. The actuation system is also studied and designed. The paper provides an overview of the upper limb rehabilitation and evaluation techniques.

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Disturbance observer applications in rehabilitation robotics: an overview

Mohammadi

Dallali

2020

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Exoskeleton Design of an Intelligent Haptic Robotic Glove

Cited by 5 publications

References 21 publications

Design of a hybrid FES-mechanical intelligent haptic robotic glove

Design of a hybrid FES-mechanical intelligent haptic robotic glove

Preliminary results on a hybrid FES-exoskeleton system aiming to rehabilitate upper limb in disabled people

Disturbance observer applications in rehabilitation robotics: an overview

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