NDLI: Kinematic analysis of a novel exoskeleton finger rehabilitation robot for stroke patients

Content Provider	IEEE Xplore Digital Library
Author	Shuxiang Guo Fan Zhang Wei Wei Fang Zhao Yunliang Wang
Copyright Year	2014
Description	Author affiliation: Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin Univ. of Technol., Tianjin, China (Fan Zhang; Wei Wei; Fang Zhao; Yunliang Wang) \|\| Sch. of Electr. Eng., Tianjin Univ. of Technol., Tianjin, China (Shuxiang Guo)
Abstract	The exoskeleton robot technology is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton finger robot has been described to aim at helping varieties of hemiparalysis patients recover motor function. The robot system adopts the EEG control and mainly consists of exoskeleton finger robot, EEG system, HMI system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism is portable, wearable and adjustable for patients doing home rehabilitation training. Base on the Denavit-Hartenberg (DH) parameters method, the kinematic model of finger has built to be used in designing the robot. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical Systems), the parameters of position, velocity and acceleration (PVA) in each joint are simulated. From the result, it can view that the robot has high movement ability to finish the Continuous Passive Motion (CPM). Besides, a comparison test is done to study whether there are some motion blocks in wearing exoskeleton robot. Form the curve figure, in the two situations, the angle range of the MCP (metacarpaophalangeal) joint is equal, which verifies the interference of robot is small. These experiments demonstrate the exoskeleton can provide high efficiency movement ability for stroke doing the rehabilitation. In the future, with the optimization design, the robot will improvement and has a bright application prospect in the rehabilitation field.
Starting Page	924
Ending Page	929
File Size	1283743
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885821
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Thumb Exoskeletons Joints Robot sensing systems Kinematics Kinematic simulation analysis Exoskeleton finger robot Rehabilitation
Content Type	Text
Resource Type	Article

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