On the Optimal Synthesis of a Finger Rehabilitation Slider-Crank-Based Device with a Prescribed Real Trajectory: Motion Specifications and Design Process

Zapatero-Gutiérrez, Araceli; Castillo-Castañeda, Eduardo; Laribi, Med Amine

doi:10.3390/app11020708

Cited by 8 publications

(2 citation statements)

References 41 publications

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“…The curve with the greatest amplitude (Fig. 1), which corresponds to the movement of the middle finger, is considered as the desired trajectory for this work [19]. The authors in ref.…”

Section: Desired Trajectorymentioning

confidence: 99%

A five-bar mechanism to assist finger flexion-extension movement: system implementation

2022

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The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype’s functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism’s performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers’ range of motion, which helps for full patient recovery.

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“…The curve with the greatest amplitude (Fig. 1), which corresponds to the movement of the middle finger, is considered as the desired trajectory for this work [19]. The authors in ref.…”

Section: Desired Trajectorymentioning

confidence: 99%

A five-bar mechanism to assist finger flexion-extension movement: system implementation

2022

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“…The exoskeleton is designed as a serial 2-DOF wearable mechanism that is able to guide human finger motion. The authors of paper [26] discuss the mechanical redesign of a finger rehabilitation device based on a slider-crank mechanism, starting from an existing prototype. The purpose is to obtain a portable device that can recreate the motion trajectories of a finger.…”

Section: Modelling and Control Of Mechatronic And Robotic Systemsmentioning

confidence: 99%