Patient-Driven Hand Exoskeleton Based Robotic with Active Control System for Early Post Stroke Rehabilitation

Abstract

The development of a robotic exoskeleton to restore and rehab, hand and finger function is highly competitive nowadays. The robotic exoskeleton is an active actuated mechanism implemented in rehabilitation system, in which each finger attached to an instrumented lead screw mechanism allowing force and position control, according to the normal human setting. The robotic device is a direct driven actuated based on ergonomics measurements, capable to assist in flexion and extension motion. As an adaptation mechanism, it's also compatible with various sizes and shapes of anthropometric human‘s finger. The integration of DC servo motor and lead screw mechanism were the main features of the interface, which allows independent motion of the five fingers with small and lightweight actuators. The device is easily transportable, efficient safety performance, user friendly and offer multiple modes of training potentials. This paper presents the measurements implemented in the system to determine the requirements for finger and hand rehabilitation device, the design and characteristic of the whole system.

System Integration of Finger Contracture Prevention System Device for Early Post Stroke Rehabilitation

“…DIP, PIP and MCP joint angle of the index finger, MCP and IP joint angle of thumb finger are assessed. The joint angle is estimated through the dot product formulation demonstrated via Equation (9) and Equation (10).…”

“…The duration of such therapy depends on the stroke severity of the fingers as well as the medical condition of a given patient [8]. Therefore, a continuous monitoring and active sessions are required in order to improve patients' motor function skills supported by physiotherapists [9]. Nevertheless, owing to the limited number of physiotherapists limits the accessibility of the patients to the physiotherapist at all times [10].…”