Design of a haptic device for finger and hand rehabilitation

Omar A. Daud, Francesco Biral, Roberto Oboe, Lamberto Piron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A five-bar linkage mechanism with two active and three passive (end-effector rotations) degrees-of-freedom was designed as a haptic device and integrated inside a developed application in Matlab/Simulink using Handshake proSENSE toolbox for the haptic and graphic rendering, as well as the control loop and the external communication, achieving a real-time system for virtual reality based rehabilitation. The five-bar mechanism was developed in order to cover the reachable workspace of a human finger, and having a high manipulability in its workspace and low inertia. It can generate forces up to 20 [N] at the end-effector, which is suitable for finger and hand exercise rehabilitation. The system was evaluated and tested successfully. A hand rehabilitation case study and their results are presented. These results are demonstrative on the feasibility of the proposed design and application.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2075-2080
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: Nov 7 2010Nov 10 2010

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period11/7/1011/10/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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