A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis
A novel robotic exoskeleton for fingers rehabilitation is developed, which is driven by linear motors through Bowden cables. For each finger, in addition to three links acting as phalanxes, two more links acting as knuckles are also implemented. Links are connected through passive joints, by which t...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2022/1751460 |
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| _version_ | 1832549246548574208 |
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| author | Yong Dai Junhong Ji Guocai Yang Yu Yang |
| author_facet | Yong Dai Junhong Ji Guocai Yang Yu Yang |
| author_sort | Yong Dai |
| collection | DOAJ |
| description | A novel robotic exoskeleton for fingers rehabilitation is developed, which is driven by linear motors through Bowden cables. For each finger, in addition to three links acting as phalanxes, two more links acting as knuckles are also implemented. Links are connected through passive joints, by which translational and rotary movements can be realized simultaneously. Either flexion or extension motion is accomplished by one cable of adequate stiffness. This exoskeleton possesses good adaptability to finger length of different subjects and length variations during movement. The exoskeleton’s kinematics model is built by the statistics method, and piecewise polynomial functions (PPF) are chosen to describe the relationship between motor displacement and joint variables. Finally, the relationship between motor displacement and the finger’s total bending angle is obtained, which can be used for rehabilitation trajectory planning. Experimental results show that this exoskeleton achieves nearly the maximum finger bending angle of a healthy adult person, with the maximum driving force of 68.6 N. |
| format | Article |
| id | doaj-art-99f0a90276034e909050839b8917ba72 |
| institution | Kabale University |
| issn | 1754-2103 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-99f0a90276034e909050839b8917ba722025-02-03T06:11:52ZengWileyApplied Bionics and Biomechanics1754-21032022-01-01202210.1155/2022/1751460A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics AnalysisYong Dai0Junhong Ji1Guocai Yang2Yu Yang3School of Mechatronics EngineeringState Key Laboratory of Robotics and SystemsState Key Laboratory of Robotics and SystemsSchool of Mechatronics EngineeringA novel robotic exoskeleton for fingers rehabilitation is developed, which is driven by linear motors through Bowden cables. For each finger, in addition to three links acting as phalanxes, two more links acting as knuckles are also implemented. Links are connected through passive joints, by which translational and rotary movements can be realized simultaneously. Either flexion or extension motion is accomplished by one cable of adequate stiffness. This exoskeleton possesses good adaptability to finger length of different subjects and length variations during movement. The exoskeleton’s kinematics model is built by the statistics method, and piecewise polynomial functions (PPF) are chosen to describe the relationship between motor displacement and joint variables. Finally, the relationship between motor displacement and the finger’s total bending angle is obtained, which can be used for rehabilitation trajectory planning. Experimental results show that this exoskeleton achieves nearly the maximum finger bending angle of a healthy adult person, with the maximum driving force of 68.6 N.http://dx.doi.org/10.1155/2022/1751460 |
| spellingShingle | Yong Dai Junhong Ji Guocai Yang Yu Yang A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis Applied Bionics and Biomechanics |
| title | A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis |
| title_full | A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis |
| title_fullStr | A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis |
| title_full_unstemmed | A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis |
| title_short | A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis |
| title_sort | novel robotic exoskeleton for finger rehabilitation kinematics analysis |
| url | http://dx.doi.org/10.1155/2022/1751460 |
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