Mechatronic design and characterization of the index finger module of a hand exoskeleton for post-stroke rehabilitation

Azzurra Chiri, Nicola Vitiello, Francesco Giovacchini, Stefano Roccella, Fabrizio Vecchi, Maria Chiara Carrozza

Research output: Contribution to journalArticlepeer-review

Abstract

This paper presents HANDEXOS, a novel wearable multiphalanges device for post-stroke rehabilitation. It was designed in order to allow for a functional and safe interaction with the user's hand by means of an anthropomorphic kinematics and the minimization of the human/exoskeleton rotational axes misalignment. This paper describes the mechatronic design of the exoskeleton's index finger module, simulation, modeling, and development of the actuation unit and sensory system. Experimental results on the validation of the dynamic model and experimental characterization of the index finger module with healthy subjects are reported, showing promising results that encourage further clinical trials.

Original languageEnglish
Article number5771114
Pages (from-to)884-894
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume17
Issue number5
DOIs
Publication statusPublished - 2012

Keywords

  • Axes misalignment
  • Bowden cables
  • hand exoskeleton
  • hand rehabilitation
  • underactuation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Mechatronic design and characterization of the index finger module of a hand exoskeleton for post-stroke rehabilitation'. Together they form a unique fingerprint.

Cite this