Development of a novel robotic system for hand rehabilitation

Antonia Tzemanaki, Daniel Raabe, Sanja Dogramadzi

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)
99 Downloads (Pure)


Rehabilitation Robotics involves the use of robotic systems as an enabling technology for people with kinetic problems, in order to help them recover from a physical trauma. This paper presents the investigation of a robotic system for stroke and post hand-surgery patient rehabilitation, in order to gradually regain flexibility in their finger-joints by passively extending and flexing their fingers. It includes one linear actuator for each finger and a thin-film force sensor at each fingertip as a safety measure against overstraining the finger-joints. Prior to designing the system, kinematic and dynamic models of a human hand have been derived and simulated in MATLAB. Data obtained from this model show a strong correlation to natural human hand movements, recorded in this study using a 6 DoF motion capture system. Design of the robotic system is performed using UGS NX6 software.
Original languageEnglish
Title of host publication24th International Symposium on Computer-Based Medical Systems (CBMS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4577-1190-9
ISBN (Print)978-1-4577-1189-3
Publication statusPublished - 30 Jun 2011
Event2011 24th International Symposium on Computer-Based Medical Systems (CBMS) - Bristol, UK, Bristol, United Kingdom
Duration: 27 Jun 201130 Jun 2011


Conference2011 24th International Symposium on Computer-Based Medical Systems (CBMS)
Country/TerritoryUnited Kingdom


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