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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
Published on: May 20, 2020
iHandRehab: an interactive hand exoskeleton for active and passive rehabilitation
Jiting Li1, Ruoyin Zheng, Yuru Zhang
1State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China. lijiting@buaa.edu.cn
Summary
This study introduces iHandRehab, an interactive exoskeleton for hand rehabilitation. It offers adjustable features and low inertia, proving effective for both active and passive therapy with potential for further friction analysis.
Area of Science:
- Biomedical Engineering
- Rehabilitation Robotics
- Human-Machine Interaction
Background:
- Effective hand rehabilitation requires devices that accommodate both active and passive patient participation.
- Existing exoskeletons may lack adaptability for diverse patient needs and precise motion control.
Purpose of the Study:
- To present the design and evaluation of iHandRehab, an interactive exoskeleton for comprehensive hand rehabilitation.
- To assess the device's adaptability, motion control capabilities, and performance metrics for clinical application.
Main Methods:
- Developed a multi-DOF exoskeleton for the thumb and index finger with a cable/sheath transmission.
- Implemented a parallelogram mechanism for simplified joint angle sensing and motion control.
- Investigated adjustable joint range of motion (ROM) and phalanx length (ROPL) for patient customization.
- Evaluated device inertia and friction characteristics through experimental analysis.
Main Results:
- The iHandRehab achieved a joint range of motion comparable to a healthy hand.
- Adjustable phalanx length accommodated typical hand sizes for rehabilitation.
- The device demonstrated low moment of inertia, crucial for effective backdrivability in active mode.
- Experimental data indicated significant influence of friction on driving torque.
Conclusions:
- iHandRehab meets essential requirements for active and passive hand rehabilitation with adaptable features.
- The device's design facilitates precise motion control and exhibits favorable dynamic properties.
- Further research is recommended to address the impact of friction on the device's performance.
