Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-Stroke Rehabilitation

被引：187
作者：
Chiri, Azzurra [1 ,2 ]
Vitiello, Nicola [1 ,2 ]
Giovacchini, Francesco [1 ,2 ]
Roccella, Stefano [1 ,2 ]
Vecchi, Fabrizio [1 ,2 ]
Carrozza, Maria Chiara [1 ,2 ]
机构：
[1] Scuola Super Studi Univ, BioRobot Inst, I-56127 Pisa, Italy
[2] Perfezionamento St Anna, I-56127 Pisa, Italy
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2012年 / 17卷 / 05期
关键词：
Axes misalignment; Bowden cables; hand exoskeleton; hand rehabilitation; underactuation; STROKE; THERAPY; ARM;
D O I：
10.1109/TMECH.2011.2144614
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents HANDEXOS, a novel wearable multiphalanges device for post-stroke rehabilitation. It was designed in order to allow for a functional and safe interaction with the user's hand by means of an anthropomorphic kinematics and the minimization of the human/exoskeleton rotational axes misalignment. This paper describes the mechatronic design of the exoskeleton's index finger module, simulation, modeling, and development of the actuation unit and sensory system. Experimental results on the validation of the dynamic model and experimental characterization of the index finger module with healthy subjects are reported, showing promising results that encourage further clinical trials.
引用
收藏
页码：884 / 894
页数：11
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