NDLI: A Haptic Knob for Rehabilitation of Stroke Patients

Content Provider	IEEE Xplore Digital Library
Author	Dovat, L. Lambercy, O. Ruffieux, Y. Chapuis, D. Gassert, R. Bleuler, H. Teo, C.L. Burdet, E.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Nat. Univ. of Singapore (Dovat, L.; Lambercy, O.)
Abstract	The strong impairment of motor functions in stroke survivors affects daily activities such as eating, manipulating objects or writing. Our goal is to induce long lasting improvements in such tasks by having patients perform systematic exercises using haptic interfaces. This paper describes a novel two-degrees-of-freedom interface which we have developed to help stroke patients gradually recover the ability to open and close the hand and manipulate knobs. Different solutions are studied and a design consisting of two parallelogram structures interacting with the fingers is proposed. The mechanical design offers the possibility to adapt the interface to various hand sizes and finger orientations, and to right or left-handed subjects. Design kinematics as well as actuation and system control are described. Several knobs are proposed to interact with patients, especially a cone mechanism to train a complete opening movement from a strongly contracted and closed hand to a large opened position. The interaction force with the subject is measured over four force sensors located close to the output of the interface. A preliminary study has been performed to evaluate the performances of the haptic interface
Starting Page	977
Ending Page	982
File Size	1449238
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281778
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Fingers Rehabilitation robotics Medical treatment Robot kinematics Performance evaluation Intelligent robots Writing Force measurement Force sensors
Content Type	Text
Resource Type	Article

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