Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Novel 1 DOF Hand Rehabilitation Robot for Activities of Daily Living (ADL) Training of Stroke Patients

뇌졸중 환자의 일상생활 동작 훈련을 위한 1자유도 손 재활 로봇 설계

  • Received : 2010.06.10
  • Accepted : 2010.07.20
  • Published : 2010.09.01
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Abstract

In this paper, a novel 1 DOF hand rehabilitation robot is proposed in consideration of ADL training for stroke patients. To perform several ADL trainings, the proposed robot can move the thumb part and the part of 4 fingers simultaneously and realize the full ROM (Range of Motion) in grasp. Based on these characteristics, the proposed robot realizes several types of grasp such as cylindrical grasp, lateral grasp, and pinch grasp by using a passive revolute joint that can change the thumb movement direction. The movement of the thumb is driven by a cable mechanism and the part of 4 fingers is moved by a four-bar linkage mechanism.

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References

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