Parallel controller construction for a multi-DOF hand rehabilitation equipment

Issue title: Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT 2005, ICMIT 2007)

Article type: Research Article

Authors: Ito, Satoshi^{a; *} | Ueki, Satoshi^b | Ishihara, Koji^a | Miura, Masayuki^a | Kawasaki, Haruhisa^a | Ishigure, Yasuhiko^{a; c} | Nishimoto, Yutaka^d

Affiliations: [a] Faculty of Engineering, Gifu University, Gifu, Japan | [b] Toyota National Colleges of Technology, Toyota, Japan | [c] Marutomi Seiko Co. Ltd., Seki, Japan | [d] School of Medicine, Gifu University, Gifu, Japan

Correspondence: [*] Corresponding author. Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu, Japan. Tel.: +81 58 293 2540; Fax: +81 58 293 2540; E-mail: satoshi@gifu-u.ac.jp

Abstract: This paper describes the development of a hand rehabilitation system for stroke patients. Our objective is to provide fine motion assistance in exercises for a hand and fingers. Thus, a hand rehabilitation device that assists patient's finger movements was developed. Because this device has 18 degrees of freedom, it is difficult for disabled patients to use it by themselves. Therefore, an appropriate control strategy and a control system are required to allow it to be used safely and effectively. In light of this requirement, a control system was developed that comprises four separate controllers. This paper presents the structure of the control system and introduces the control protocols used in the hand rehabilitation system.

Keywords: Hand rehabilitation, multi-dofs equipment, parallel controller, control protocol, multi-control mode

DOI: 10.3233/JAE-2011-1353

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 151-158, 2011