Design, characterization, and impedance limits of a hand robot

L. Masia; H. I. Krebs; P. Cappa; N. Hogan

doi:10.1109/ICORR.2007.4428558

Design, characterization, and impedance limits of a hand robot

L. Masia, H. I. Krebs, P. Cappa, N. Hogan

Ospedale Pediatrico Bambino Gesu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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
Title of host publication	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Pages	1085-1089
Number of pages	5
DOIs	https://doi.org/10.1109/ICORR.2007.4428558
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
Country/Territory	Netherlands
City	Noordwijk
Period	6/12/07 → 6/15/07

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ICORR.2007.4428558

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Masia, L, Krebs, HI, Cappa, P & Hogan, N 2007, Design, characterization, and impedance limits of a hand robot. in 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07., 4428558, pp. 1085-1089, 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07, Noordwijk, Netherlands, 6/12/07. https://doi.org/10.1109/ICORR.2007.4428558

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title = "Design, characterization, and impedance limits of a hand robot",

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.",

author = "L. Masia and Krebs, {H. I.} and P. Cappa and N. Hogan",

year = "2007",

doi = "10.1109/ICORR.2007.4428558",

language = "English",

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AU - Krebs, H. I.

AU - Cappa, P.

AU - Hogan, N.

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N2 - 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.

AB - 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.

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T2 - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

Y2 - 12 June 2007 through 15 June 2007

ER -

Design, characterization, and impedance limits of a hand robot

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