Development of a Hand-Assist Robot With Multi-Degrees-of-Freedom for Rehabilitation Therapy

Ueki, Satoshi; Kawasaki, Haruhisa; Ito, Satoshi; Nishimoto, Yuji; Abe, Motoyuki; Aoki, Takaaki; Ishigure, Yasuhiko; Ojika, Takeo; Mouri, Tetsuya

doi:10.1109/tmech.2010.2090353

Cited by 221 publications

(130 citation statements)

References 17 publications

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“…For design of the whole hand, 18 DOFs of hand assistive robot has been developed [18]. The robot aims to rehabilitate thumb, fingers and hand-wrist coordinated motions.…”

Section: Past Research On Hand Function Rehabilitationmentioning

confidence: 99%

Design and Development of a Bilateral Therapeutic Hand Device for Stroke Rehabilitation

Rahman

Al-Jumaily

2013

International Journal of Advanced Robotic Systems

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The major cause of disability is stroke. It is the second highest cause of death after coronary heart disease in Australia. In this paper, a post stroke therapeutic device has been designed and developed for hand motor function rehabilitation that a stroke survivor can use for bilateral movement practice. A prototype of the device was fabricated that can fully flex and extend metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints of the fingers, and interphalangeal (IP), metacarpophalangeal (MCP) and trapeziometacarpal (TM) joints of the thumb of the left hand (impaired hand), based on movements of the right hand's (healthy hand) fingers. Out of 21 degrees of freedom (DOFs) of hand fingers, the prototype of the hand exoskeleton allowed fifteen degrees of freedom (DOFs), with three degrees of freedom (DOFs) for each finger and three degrees of freedom (DOFs) for the thumb. In addition, testing of the device on a healthy subject was conducted to validate the design requirements.

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“…For design of the whole hand, 18 DOFs of hand assistive robot has been developed [18]. The robot aims to rehabilitate thumb, fingers and hand-wrist coordinated motions.…”

Section: Past Research On Hand Function Rehabilitationmentioning

confidence: 99%

Design and Development of a Bilateral Therapeutic Hand Device for Stroke Rehabilitation

Rahman

Al-Jumaily

2013

International Journal of Advanced Robotic Systems

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“…Recently, with the development of continuous passive motion (CPM), some rehabilitation robots based on CPM theory have been used widely in clinical training [9,10]. The research conducted in [11] had developed the design of an EMG-driven exoskeleton robotic training device that can be employed for hand rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints

Zhang

et al. 2015

BME

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Abstract. Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.

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“…Robotic manipulators with multiple degrees of freedom (DOF) have recently found many applications such as in roboticassisted surgery and therapy, space exploration, and navigation systems [1], [2], [3]. For successful teleoperation of a multi-DOF task, it is generally assumed that the human is always in the loop in the sense that every move made to the master by the human has been informed by continuous visual and haptic updates received from the slave, and that the teleoperator comprised 2 of the master, the slave, the controllers, and the communication channel is transparent.…”

Section: Introductionmentioning

confidence: 99%

“…For successful teleoperation of a multi-DOF task, it is generally assumed that the human is always in the loop in the sense that every move made to the master by the human has been informed by continuous visual and haptic updates received from the slave, and that the teleoperator comprised 2 of the master, the slave, the controllers, and the communication channel is transparent. Then, the human would feel as if he/she is performing the task via direct touch with the environment while actually doing it via the teleoperation system.…”

Section: Introductionmentioning

confidence: 99%

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

Tavakoli²,

Huang

2014

IET Control Theory & Applications

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In bilateral teleoperation of a dexterous task, to take full advantage of the human's intelligence, experience, and sensory inputs, a possibility is to engage multiple human arms through multiple masters (haptic devices) in controlling a single slave robot with high degrees-of-freedom (DOF); the total DOFs of the masters will be equal to the DOFs of the slave. A multi-master/single-slave cooperative haptic teleoperation system with w DOFs can be modeled as a two-port network where each port (terminal) connects to a termination defined by w inputs and w outputs. The stability analysis of such a system is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical or virtual environments. The unknown dynamics of the users and the environments exacerbate the problem. We present a novel, straightforward and convenient frequency-domain method for stability analysis of this system. As a case study, two 1-DOF and 2-DOF master haptic devices are considered to teleoperate a 3-DOF slave robot. It is qualitatively discussed how such a trilateral haptic teleoperation system may result in better task performance by splitting the various DOFs of a dexterous task between two arms of a human or two humans. Simulation and experimental results demonstrate the validity of the stability analysis framework.

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Development of a Hand-Assist Robot With Multi-Degrees-of-Freedom for Rehabilitation Therapy

Cited by 221 publications

References 17 publications

Design and Development of a Bilateral Therapeutic Hand Device for Stroke Rehabilitation

Design and Development of a Bilateral Therapeutic Hand Device for Stroke Rehabilitation

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

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