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 language | English |
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| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 2075-2080 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: Nov 7 2010 → Nov 10 2010 |
Other
| Other | 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 |
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| Country/Territory | United States |
| City | Glendale, AZ |
| Period | 11/7/10 → 11/10/10 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering