Design and Control of an Actuated Thumb Exoskeleton for Hand Rehabilitation Following Stroke

摘要：

Chronic hand impairment is common following stroke. This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in hand rehabilitation therapy. The ATX presented in this work permits independent bi-directional actuation in each of the 5 degrees-of-freedom (DOF) of the thumb using a mechanism that has 5 active DOF and 3 passive DOF. The ATX is able to provide considerable joint torques for the user while still allowing backdrivability through flexible shaft transmission. A prototype has been built and experiments were conducted to evaluate the closed-loop position control. Further improvement and future work are discussed.

作者: Furui Wang Milind Shastri Christopher L. Jones Vikash Gupta Christian Osswald Xuan Kang Derek G. Kamper Nilanjan Sarkar

作者单位: Department of Mechanical Engineering,Vanderbilt University,Nashville,TN,37212,USA Department of Biomedical Engineering,Illinois Institute of Technology,Chicago,IL,60616,USA Department of Biomedical Engineering,Illinois Institute of Technology and the Rehabilitation Institu

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3688-3693

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）