Development of a Hand Exoskeleton System for Quantitative Analysis of Hand Functions
- 36 Downloads
This paper proposes a hand exoskeleton system for evaluating hand functions. To evaluate hand functions, the hand exoskeleton system must be able to pull each finger joint, measure the finger joint angle and exerted force on the finger simultaneously. The proposed device uses serially connected 4-bar linkage structures, which have two embedded actuators with encoders and two loadcells per finger, to move each phalanx independently and measure the finger joint angles. A modular design was used for the exoskeleton, to facilitate the removal of unnecessary modules in different experiments and improve convenience. Silicon was used on the surface of the worn part to reduce the skin irritation that results from prolonged usage. This part was also designed to be compatible with various finger thicknesses. Using the proposed hand exoskeleton system, finger independence, multi-finger synergy, and finger joint stiffness were determined in five healthy subjects. The finger movement and force data collected in the experiments were used for analyzing three hand functions based on the physical and physiological phenomena.
Keywordsevaluation of hand function hand rehabilitation wearable system exoskeleton
Unable to display preview. Download preview PDF.
This study was supported by Translational Research Center for Rehabilitation Robots (Grant No. NRCTR-EX16004), Korea National Rehabilitation Center, Ministry of Health & Welfare, Korea.
- .The Internet Stroke Center, Stroke Statistics, [2018-03], https://doi.org/doi.org/www.strokecenter.org/
- .O'Driscoll S W, Giori N J. Continuous passive motion (CPM): Theory and principles of clinical application. Journal of Rehabilitation Research and Development, 2000, 37, 179.Google Scholar
- .Latash M L, Anson J G. Synergies in health and disease: Relations to adaptive changes in motor coordination. Physical Therapy, 2006, 86, 1151–1160.Google Scholar
- .Ho N S K, Tong K Y, Hu X L, Fung K L, Wei X J, Rong W, Susanto E A. An EMG-driven exoskeleton hand robotic training device on chronic stroke subjects: Task training system for stroke rehabilitation. Proceedings of the 12th IEEE International Conference on Rehabilitation Robotics (ICORR), Zurich, Switzerland, 2011, 1–5.Google Scholar
- .Tyromotion, AMADEO, [2018-03], https://doi.org/doi.org/tyromotion.com/en/products/amadeo
- .Boian R, Sharma A, Han C, Merians A, Burdea G, Adamovich S, Recce M, Tremaine M, Poizner H. Virtual realitybased post-stroke hand rehabilitation. Proceedings of Medicine Meets Virtual Reality Conference, Newport Beach, USA, 2002, 64–70.Google Scholar
- .Sizekorea. Korean Normal Anthropometric Data, [2015-03], https://doi.org/doi.org/sizekorea.kats.go.kr/
- .Maxon Motor, [2018-03], https://doi.org/www.maxonmotor.com/
- .National Instrument, [2018-03], https://doi.org/www.ni.com/
- .OptiTrack, Prime 13, [2018-03], https://doi.org/optitrack.com/