title: A multi-DOF robotic exoskeleton interface for hand motion assistance.
abstract: This paper outlines the design and development of a robotic exoskeleton based rehabilitation system. A portable direct-driven optimized hand exoskeleton system has been proposed. The optimization procedure primarily based on matching the exoskeleton and finger workspaces guided the system design. The selection of actuators for the proposed system has emerged as a result of experiments with users of different hand sizes. Using commercial sensors, various hand parameters, e.g. maximum and average force levels have been measured. The results of these experiments have been mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been analysed followed by the design and realization of the first prototype. The system provides both position and force feedback sensory information which can improve the outcomes of a professional rehabilitation exercise.
authors.affiliation: ADVanced Robotics Department, Italian Institute of Technology and COMSATS Institute of Information Technology, Islamabad, Pakistan. jamshed.iqbal@iit.it
authors.forename: Jamshed
authors.initials: J
authors.lastname: Iqbal
authors.forename: Nikos G
authors.initials: NG
authors.lastname: Tsagarakis
authors.forename: Darwin G
authors.initials: DG
authors.lastname: Caldwell
mesh_terms: D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006225:Hand; D006801:Humans; D009069:Movement Disorders / Q000534:rehabilitation*; D009989:Orthotic Devices; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*