The morbidity of cerebral apoplexy is as high as 75%, there are 5–6 million patients with cerebral apoplexy but no corresponding amount of rehabilitation therapists. They need rehabilitation training robot urgently. A novel terminal-guided rehabilitation robot for finger was proposed. The robot has 12 degrees of freedom, which can train the twelve joints of the four fingers except the thumb. The kinematics of the index finger rehabilitation training system, which is composed of the index finger and the training device, is solved. An algorithms was put forward what can determining the largest internal circle in finger space. Kinematics simulation of two kinds of training trajectory what is suitable for the finger with different sizes was carried out.
Design and kinematics simulation of a fingertip-guided rehabilitation robot
2017-07-01
554980 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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