Single degree-of-freedom exoskeleton mechanism design for thumb rehabilitation.
This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be used as an exoskeleton for thumb motion. Together with an already-designed finger mechanism, it forms a robotic device for hand therapy. The goal for the exoskeleton is to generate the desired grasping and pinching path of the thumb with one degree of freedom, rather than using a system actuating all its joints independently. In addition to the path of the thumb, additional constraints are added in order to control the position and size of the exoskeleton, reducing physical and sensory interference with the user.
Dept. of Mechanical Engineering, Idaho State University, Pocatello, ID, USA. yihuyime@isu.edu
Yimesker
Y
Yihun
Robert
R
Miklos
Alba
A
Perez-Gracia
David J
DJ
Reinkensmeyer
Keith
K
Denney
Eric T
ET
Wolbrecht
D001696:Biomechanical Phenomena; D050278:Finger Phalanges / Q000503:physiopathology; D006801:Humans; D007596:Joints / Q000503:physiopathology; D009989:Orthotic Devices; D011474:Prosthesis Design; D012046:Rehabilitation; D013933:Thumb / Q000503:physiopathology*