Abstract
Previous work has expanded the planar MIT-MANUS to include an anti-gravity robot for shoulder-and-elbow and wrist robot. In this paper we present the "missing link": a hand module. We will discuss in detail the design and characterization of this modula It consists of a single degree of freedom mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The system uses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, Le., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor. A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping. This module completes our development of robots for the upper-extremity affording for the first time a whole-arm rehabilitation experience.
Original language | English |
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Title of host publication | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 |
Pages | 1085-1089 |
Number of pages | 5 |
DOIs | |
Publication status | Published - 2007 |
Event | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands Duration: Jun 12 2007 → Jun 15 2007 |
Other
Other | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 |
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Country/Territory | Netherlands |
City | Noordwijk |
Period | 6/12/07 → 6/15/07 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering