This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link lengths is capable of reproducing a power grasp finger motion for a wide variety of finger sizes. This is accomplished through an optimization procedure that determines the parameters of the four-bar linkage needed to fit the sampled range of finger trajectories. The linkage is located behind the hand and attaches to the medial phalanx of the finger just above the distal interphalangeal joint. In addition, the mechanism is designed so that it does not interfere with finger motion and so that the subject‘s fingertips and palm are free to touch real objects and experience tactile feedback. In future implementations, the mechanism could be used for a single finger or in parallel with other similar mechanisms to exercise multiple fingers simultaneously. Although the specific application presented here is the four-bar mechanism and finger power grasp motion, the developed design methods may be applied to a much broader range of mechanisms and applications where scalability for human-machine interface is required. ; Postprint (published version)


    Access

    Download


    Export, share and cite



    Title :

    Design method for a reconfigurable mechanism for finger rehabilitation



    Publication date :

    2010-01-01


    Type of media :

    Miscellaneous


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Design Method for a Reconfigurable Mechanism for Finger Rehabilitation

    Sands, Davin / Perez-Gracia, Alba / McCormack, Jay et al. | BASE | 2010

    Free access

    Finger Rehabilitation Training Robot Mechanism Design

    Li, Zichen / Yuan, Minghai / Mao, Kefu et al. | IEEE | 2023


    Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation

    Wolbrecht, Eric T. / Reinkensmeyer, David J. / Pérez Gracia, Alba | BASE | 2011

    Free access

    Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation

    Wolbrecht, Eric T. / Reinkensmeyer, David J. / Perez-Gracia, Alba | BASE | 2011

    Free access