A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism

Jumpei Arata, Keiichi Ohmoto, Roger Gassert, Olivier Lambercy, Hideo Fujimoto, Ikuo Wada

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

69 被引用数 (Scopus)

抄録

In this paper, a new hand exoskeleton device using a three-layered sliding spring mechanism is presented. In contrast to state of the art hand exoskeleton mechanisms (typically link, wire or pneumatically driven), the proposed mechanism is driven through large deformations of the compliant mechanism body. The mechanism can be made compact and lightweight by adequately positioning the compliant elements. In addition, the mechanism is designed to distribute 1-DOF actuated linear motion into three rotational motions of the finger joints, which translate into natural finger flexion/extension. The primary applicatoin of the proposed mechanism is to provide robotic support during physical therapy at the hospital (e.g. Continuous Passive Motion). However, thanks to its light and wearable structure, the proposed device could also be used at home as an assistive/therapeutic device to support activities of daily living. We introduce the mechanical structure of the three-layered sliding spring mechanism, present a prototype implementation as a hand exoskeleton device, and provide a preliminary evaluation.

本文言語英語
ホスト出版物のタイトル2013 IEEE International Conference on Robotics and Automation, ICRA 2013
ページ3902-3907
ページ数6
DOI
出版ステータス出版済み - 2013
外部発表はい
イベント2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, ドイツ
継続期間: 5 6 20135 10 2013

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Countryドイツ
CityKarlsruhe
Period5/6/135/10/13

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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