An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation

Dickmann, Thomas and Wilhelm, Nikolas J. and Glowalla, Claudio and Haddadin, Sami and van der Smagt, Patrick and Burgkart, Rainer (2021) An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation. Frontiers in Robotics and AI, 8. ISSN 2296-9144

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Abstract

This paper presents a novel mechatronic exoskeleton architecture for finger rehabilitation. The system consists of an underactuated kinematic structure that enables the exoskeleton to act as an adaptive finger stimulator. The exoskeleton has sensors for motion detection and control. The proposed architecture offers three main advantages. First, the exoskeleton enables accurate quantification of subject-specific finger dynamics. The configuration of the exoskeleton can be fully reconstructed using measurements from three angular position sensors placed on the kinematic structure. In addition, the actuation force acting on the exoskeleton is recorded. Thus, the range of motion (ROM) and the force and torque trajectories of each finger joint can be determined. Second, the adaptive kinematic structure allows the patient to perform various functional tasks. The force control of the exoskeleton acts like a safeguard and limits the maximum possible joint torques during finger movement. Last, the system is compact, lightweight and does not require extensive peripherals. Due to its safety features, it is easy to use in the home. Applicability was tested in three healthy subjects.

Item Type: Article
Subjects: Science Global Plos > Mathematical Science
Depositing User: Unnamed user with email support@science.globalplos.com
Date Deposited: 23 Jun 2023 07:37
Last Modified: 01 Nov 2023 05:34
URI: http://ebooks.manu2sent.com/id/eprint/1226

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