NDLI: A Cable Driven Robotic System to Train Finger Function After Stroke

Content Provider	IEEE Xplore Digital Library
Author	Dovat, L. Lambercy, O. Johnson, V. Salman, B. Wong, S. Gassert, R. Burdet, E. Teo Chee Leong Milner, T.
Copyright Year	2007
Description	Author affiliation: Nat. Univ. of Singapore, Singapore (Dovat, L.; Lambercy, O.)
Abstract	This paper presents a novel robotic interface to train intrinsic finger movements. The mechanical design, base on a cable system interacting with the fingers, offers the possibility of adapting the interface to accommodate various hand sizes and finger orientation. A main feature of the device is a clutch system, which consists of five clutches, one for each finger, that can be switched to three different modes: ( rest mode: the fingers are mechanically maintained at a fixed position, (ii) passive (from the view of the interface) mode: the finger is free to move along the path defined by the cable, and (iii) active mode: the force generated by the motor is applied to the finger.) With this mechanism, it is possible to train hand muscle function using only one actuator. The interaction wit the subject is measured by means of a position encoder an five force sensors located close to the output. We describe the human-oriented design of our underactuated robotic interface based on measured biomechanics. We detail the redundant safety mechanisms, the actuation, sensing and control system and report the performance and preliminary results obtained with this interface.
Starting Page	222
Ending Page	227
File Size	4173643
Page Count	6
File Format	PDF
ISBN	9781424413195
DOI	10.1109/ICORR.2007.4428430
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomechanics Actuators Force measurement Fingers Mechanical cables Muscles Position measurement Robot sensing systems Safety Force sensors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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