2011 IEEE International Conference on Rehabilitation Robotics 2011
DOI: 10.1109/icorr.2011.5975387
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iHandRehab: An interactive hand exoskeleton for active and passive rehabilitation

Abstract: This paper presents an interactive exoskeleton device for hand rehabilitation, iHandRehab, which aims to satisfy the essential requirements for both active and passive rehabilitation motions. iHandRehab is comprised of exoskeletons for the thumb and index finger. These exoskeletons are driven by distant actuation modules through a cable/sheath transmission mechanism. The exoskeleton for each finger has 4 degrees of freedom (DOF), providing independent control for all finger joints. The joint motion is accompli… Show more

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Cited by 32 publications
(13 citation statements)
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“…Several assistive and rehabilitative devices have been designed to assist with ADL in the home in people with chronic SCI [3]. However, many of these devices are complex and comprise large exoskeletons [4][5][6][7][8][9][10] or soft bulky materials mounted on the back of the hand [11,12] that could make object manipulation difficult. The success of self-administered hand therapy at home and in the community will depend on the use of simple orthotic and rehabilitative devices that are additionally portable, costeffective, user-friendly and importantly easy to don and doff.…”
Section: Introductionmentioning
confidence: 99%
“…Several assistive and rehabilitative devices have been designed to assist with ADL in the home in people with chronic SCI [3]. However, many of these devices are complex and comprise large exoskeletons [4][5][6][7][8][9][10] or soft bulky materials mounted on the back of the hand [11,12] that could make object manipulation difficult. The success of self-administered hand therapy at home and in the community will depend on the use of simple orthotic and rehabilitative devices that are additionally portable, costeffective, user-friendly and importantly easy to don and doff.…”
Section: Introductionmentioning
confidence: 99%
“…2.1 Hand Exoskeleton Actuators. There have been five main types of actuation mechanism used for hand exoskeletons: (i) locally situated motor with tendon-based actuation [7][8][9], (ii) locally situated motor with linkage-based actuation [3,[10][11][12], (iii) remotely situated motor with cable and sheath transmission [13][14][15][16][17][18][19][20], (iv) remotely situated motor with flexible shaft transmission [21], and (v) pneumatic actuation [22][23][24][25]. These mechanisms do not allow for accurate and stable torque control of the exoskeleton.…”
Section: Background and Motivationmentioning
confidence: 99%
“…As regards the linking system between the hand and the exoskeleton, there are two main different types: multi-phalanx devices [12,13], which directly control each phalanx separately, and single-phalanx exoskeletons [14], which actuate only that part of the hand they are connected to. The multi-phalanx approach exploits mechanisms made up of several parts and, thus, presents more complex control strategies [15][16][17]. Usually, these devices are not totally portable and they are supposed to be used for rehabilitative purposes [15,18] or in haptics [19], where the portability requirement is not a strict constraint.…”
Section: Introductionmentioning
confidence: 99%