HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand

A. Chiri, F. Giovacchini, N. Vitiello, E. Cattin, S. Roccella, F. Vecchi, M. C. Carrozza

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

66 Citations (Scopus)

Abstract

This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design of HANDEXOS offers the possibility to overcome the exoskeleton limits often related to the general high level of complexity of the structure, mechanism and actuation. We describe the mechanical design of the index finger module, the dynamic model and some preliminary experimental results.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1106-1111
Number of pages6
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint

End effectors
Patient rehabilitation
Dynamic models
Exoskeleton (Robotics)

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Chiri, A., Giovacchini, F., Vitiello, N., Cattin, E., Roccella, S., Vecchi, F., & Carrozza, M. C. (2009). HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1106-1111). [5354376] https://doi.org/10.1109/IROS.2009.5354376

HANDEXOS : Towards an exoskeleton device for the rehabilitation of the hand. / Chiri, A.; Giovacchini, F.; Vitiello, N.; Cattin, E.; Roccella, S.; Vecchi, F.; Carrozza, M. C.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1106-1111 5354376.

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

Chiri, A, Giovacchini, F, Vitiello, N, Cattin, E, Roccella, S, Vecchi, F & Carrozza, MC 2009, HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354376, pp. 1106-1111, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354376
Chiri A, Giovacchini F, Vitiello N, Cattin E, Roccella S, Vecchi F et al. HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1106-1111. 5354376 https://doi.org/10.1109/IROS.2009.5354376
Chiri, A. ; Giovacchini, F. ; Vitiello, N. ; Cattin, E. ; Roccella, S. ; Vecchi, F. ; Carrozza, M. C. / HANDEXOS : Towards an exoskeleton device for the rehabilitation of the hand. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 1106-1111
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