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Hand Rehabilitation Device Actuated by a Pneumatic Muscle

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Advances in Service and Industrial Robotics (RAAD 2018)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 67))

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Abstract

This paper analyzes the use of a McKibben pneumatic artificial muscle in a device for hand rehabilitation. This kind of actuator is widely implemented in several contexts related to human-machine mechanical interaction, such as robotics and rehabilitation, but a quantitative assessment of its suitability for such applications is often lacking. The structure of a system for retrieval of extension in a rigid finger is outlined, as well as the definition of operating characteristics like the finger workspace and the fingertip trajectory. A mathematical model for the whole system is presented, then the kinematic and static analyses are performed, leading to the calculation of the torques at the joints of the patient’s finger. Finally, the results of the simulations are discussed. The work demonstrates that the use of a pneumatic muscle can lead to the realization of an effective and well controlled rehabilitation system.

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Author information

Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo De Benedictis, Walter Franco, Daniela Maffiodo & Carlo Ferraresi

Authors
  1. Carlo De Benedictis
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  2. Walter Franco
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  3. Daniela Maffiodo
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  4. Carlo Ferraresi
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Corresponding author

Correspondence to Carlo De Benedictis .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Nikos A. Aspragathos

  2. Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece

    Panagiotis N. Koustoumpardis

  3. Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece

    Vassilis C. Moulianitis

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De Benedictis, C., Franco, W., Maffiodo, D., Ferraresi, C. (2019). Hand Rehabilitation Device Actuated by a Pneumatic Muscle. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_11

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  • DOI: https://doi.org/10.1007/978-3-030-00232-9_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00231-2

  • Online ISBN: 978-3-030-00232-9

  • eBook Packages: EngineeringEngineering (R0)

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