Design method for a reconfigurable mechanism for finger rehabilitation

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.

• Publication year

  2010

• Venue

  Robotics and Applications

• Publication date

  Unknown publication date

• Fields of study

  Medicine, Computer Science, Engineering

• Identifiers
  DOI 10.2316/P.2010.706-017
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• A design of fine motion assist equipment for disabled hand in robotic rehabilitation system

  2011cited by this paper
• Heart disease and stroke statistics--2010 update: a report from the American Heart Association.

  2010cited by this paper
• Doing Well: A SEM Analysis of the Relationships Between Various Activities of Daily Living and Geriatric Well-Being

  2009cited by this paper
• Design and validation of low-cost assistive glove for hand assessment and therapy during activity of daily living-focused robotic stroke therapy.

  2009cited by this paper
• Design of an exoskeleton for index finger rehabilitation

  2009cited by this paper
• Activities of Daily Living, Social Support, and Future Health of Older Americans

  2009cited by this paper
• Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation

  2008cited by this paper
• HandCARE: A Cable-Actuated Rehabilitation System to Train Hand Function After Stroke

  2008cited by this paper
• An Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke

  2007cited by this paper
• Real-time computer modeling of weakness following stroke optimizes robotic assistance for movement therapy

  2007cited by this paper
• Hand Rehabilitation Following Stroke: A Pilot Study of Assisted Finger Extension Training in a Virtual Environment

  2007cited by this paper
• Some Key Problems for Robot-Assisted Movement Therapy Research: A Perspective from the University of California at Irvine

  2007cited by this paper
• Design and development of two concepts for a 4 DOF portable haptic interface with active and passive multi-point force feedback for the index finger

  2006cited by this paper
• Combined Use of Repetitive Task Practice and an Assistive Robotic Device in a Patient With Subacute Stroke

  2006cited by this paper
• Mechanical design and motion control of a hand exoskeleton for rehabilitation

  2005cited by this paper
• A robotic device for hand motor therapy after stroke

  2005influential reference
• Association Between Mild Vascular Cognitive Impairment and Impaired Activities of Daily Living in Older Stroke Survivors Without Dementia

  2005cited by this paper
• A pneumatic muscle hand therapy device

  2004cited by this paper
• The Rutgers Master II-new design force-feedback glove

  2002cited by this paper
• Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation

  2002cited by this paper
• Geometric Design of Linkages

  2000cited by this paper
• A Mathematical Introduction to Robotic Manipulation

  1994cited by this paper

• Optimal Design of a Five-Bar Mechanism Dedicated to Assisting in the Fingers Flexion-Extension Movement

  2021cites this paper
• Effectiveness of a New 3D-Printed Dynamic Hand–Wrist Splint on Hand Motor Function and Spasticity in Chronic Stroke Patients

  2021cites this paper
• Hybrid position–force control for constrained reconfigurable manipulators based on adaptive neural network

  2015cites this paper
• A Bio-Inspired Condylar Hinge for Robotic Limbs

  2013cites this paper
• Control of an optimal finger exoskeleton based on continuous joint angle estimation from EMG signals

  2013cites this paper
• Single Degree-of-Freedom Exoskeleton Mechanism Design for Thumb Rehabilitation

  2012cites this paper
• Design of an exoskeleton as a finger-joint angular sensor

  2012cites this paper
• Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation

  2011cites this paper