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Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Zhang, Fuhaia; b; * | Fu, Yilia; * | Zhang, Qinchaoa | Wang, Shuguoa

Affiliations: [a] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China | [b] Postdoctoral Flow Station of Materials Science and Engineering, Harbin Institute of Technology, Harbin 150001, China

Correspondence: [*] Address for correspondence: Fuhai Zhang, State Key Laboratory of Robotics and System, Harbin Institute of Technology, C1-302, No. 2 Yikuang Street, Harbin, Heilongjiang Province 150080, China. Tel.: +86-451-86403219; Fax: +86-45186403219; E-mail: zfhhit@hit.edu.cn. Yili Fu, State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. Tel.: +86-451-86403219; Fax: +86-451-86403219; E-mail: meylfu@hit.edu.cn.

Keywords: Stroke patient, hand exoskeleton, continuous passive motion, circuitous joint

DOI: 10.3233/BME-151358

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S665-S672, 2015

Published: 2015
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Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.

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