Design of Rehabilitation Robotic Device for Fingers

Considering the increasing number of neurological patients and the economic cost of their rehabilitation, in recent years, lots of efforts has been made in order to improve therapy results and reduce its cost. One of the best options to achieve these goals is using robots. In addition, robots can help patients to do more effectual exercises by themselves. This study presents a new design for robotic rehabilitation system intended to assists flexion/extension movements of all the fingers individually and synchronously. For each finger, two joints (MCP and PIP) with one DOF have been considered. First, the features of mechanism and attachment method are introduced; then details about different parts, such as actuators and movement transmission system are explained. Finally, the control system including sensors and control algorithm is illustrated.