This paper presents the kinematic design of a single degree-of-freedom exoskeleton mechanism: a planar eight-bar mechanism for finger curling. The mechanism is part of a fingerthumb robotic device for hand therapy that will allow users to practice key pinch grip and finger-thumb opposition, allowing discrete control inputs for playing notes on a musical gaming interface. This approach uses the mechanism to generate the desired grasping trajectory rather than actuating the joints of the fingers and thumb independently. In addition, the mechanism is confined to the back of the hand, so as to allow sensory input into the palm of the hand, minimal size and apparent inertia, and the possibility of placing multiple mechanisms side-by-side to allow control of individual fingers ; Peer Reviewed ; Postprint (author’s final draft)
Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation
2011-01-01
Miscellaneous
Electronic Resource
English
DDC: | 629 |
Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation
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