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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
Published on: May 20, 2020
A haptic knob for rehabilitation of hand function
Olivier Lambercy1, Ludovic Dovat, Roger Gassert
1Department of Mechanical Engineering, National University of Singapore, 119260, Singapore. olivier.lambercy@nus.edu.sg
Summary
This study introduces a new robotic hand rehabilitation device for training hand and knob tasks. The adaptable interface measures grasping forces, aiding hand function recovery.
Area of Science:
- Robotics
- Rehabilitation Engineering
- Biomechanics
Background:
- Hand function impairment affects daily activities.
- Current rehabilitation methods may lack targeted, measurable feedback.
- Robotic interfaces offer potential for precise training and assessment.
Purpose of the Study:
- To present a novel two-degree-of-freedom robotic interface.
- To enable training of hand opening/closing and knob manipulation.
- To adapt to diverse user needs and measure key interaction forces.
Main Methods:
- Mechanical design utilizing parallelogram structures for adaptability.
- Integration of position encoders and four force sensors.
- Development of an actuation and control architecture with safety mechanisms.
- Inclusion of various attachable knobs, including a cone mechanism.
Main Results:
- The interface is adaptable to various hand sizes, orientations, and user handedness.
- It accurately measures grasping and insertion forces.
- Preliminary experiments demonstrate its performance and potential for hand function rehabilitation.
Conclusions:
- The developed robotic interface is a promising tool for hand rehabilitation.
- Its adaptable design and force-sensing capabilities support targeted training.
- Further research can explore its efficacy in clinical settings for improving hand function.
