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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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DULEX, A Wearable Hand Rehabilitation Device for Stroke Survivals

뇌졸중 환자를 위한 착용형 손 재활훈련기기, DULEX

  • Kim, Young-Min (Dong-eui University, Department of Intelligent System Engineering Graduate School) ;
  • Moon, In-Hyuk (Dong-eui University, Department of Intelligent System Engineering Graduate School)
  • 김영민 (동의대학교 대학원 지능시스템공학) ;
  • 문인혁 (동의대학교 대학원 지능시스템공학)
  • Received : 2010.06.10
  • Accepted : 2010.07.20
  • Published : 2010.10.01
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Abstract

This paper proposes a wearable hand rehabilitation device, DULEX, for persons with functional paralysis of upper-limbs after stoke. DULEX has three degrees of freedom for rehabilitation exercises for wrist and fingers except the thumb. The main function of DULEX is to extend the range of motions of finger and wrist being contracture. DULEX is designed by using a parallel mechanism, and its parameters such as length and location of links are determined by kinematic analysis. The motion trajectory of the designed DULEX is aligned to human hand to prevent a slip. To reduce total weight of DULEX, artificial air muscles are used for actuating each joint motion. In feedback control, each joint angle is indirectly estimated from the relations of the input air pressure and the output muscle length. Experimental results show that DULEX is feasible in hand rehabilitation for stroke survivals.

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References

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