Development of a novel robotic system for hand rehabilitation

Antonia Tzemanaki; Daniel Raabe; Sanja Dogramadzi

doi:10.1109/CBMS.2011.5999150

Development of a novel robotic system for hand rehabilitation

Antonia Tzemanaki, Daniel Raabe, Sanja Dogramadzi

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

2 Citations (Scopus)

125 Downloads (Pure)

Abstract

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 language	English
Title of host publication	24th International Symposium on Computer-Based Medical Systems (CBMS)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Number of pages	6
ISBN (Electronic)	978-1-4577-1190-9
ISBN (Print)	978-1-4577-1189-3
DOIs	https://doi.org/10.1109/CBMS.2011.5999150
Publication status	Published - 30 Jun 2011
Event	2011 24th International Symposium on Computer-Based Medical Systems (CBMS) - Bristol, UK, Bristol, United Kingdom Duration: 27 Jun 2011 → 30 Jun 2011

Conference

Conference	2011 24th International Symposium on Computer-Based Medical Systems (CBMS)
Country/Territory	United Kingdom
City	Bristol
Period	27/06/11 → 30/06/11

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10.1109/CBMS.2011.5999150

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title = "Development of a novel robotic system for hand rehabilitation",

abstract = "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.",

author = "Antonia Tzemanaki and Daniel Raabe and Sanja Dogramadzi",

year = "2011",

month = jun,

day = "30",

doi = "10.1109/CBMS.2011.5999150",

language = "English",

isbn = "978-1-4577-1189-3",

booktitle = "24th International Symposium on Computer-Based Medical Systems (CBMS)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2011 24th International Symposium on Computer-Based Medical Systems (CBMS) ; Conference date: 27-06-2011 Through 30-06-2011",

}

Tzemanaki, A, Raabe, D & Dogramadzi, S 2011, Development of a novel robotic system for hand rehabilitation. in 24th International Symposium on Computer-Based Medical Systems (CBMS). Institute of Electrical and Electronics Engineers (IEEE), 2011 24th International Symposium on Computer-Based Medical Systems (CBMS), Bristol, United Kingdom, 27/06/11. https://doi.org/10.1109/CBMS.2011.5999150

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T1 - Development of a novel robotic system for hand rehabilitation

AU - Tzemanaki, Antonia

AU - Raabe, Daniel

AU - Dogramadzi, Sanja

PY - 2011/6/30

Y1 - 2011/6/30

N2 - 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.

AB - 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.

U2 - 10.1109/CBMS.2011.5999150

DO - 10.1109/CBMS.2011.5999150

M3 - Conference Contribution (Conference Proceeding)

SN - 978-1-4577-1189-3

BT - 24th International Symposium on Computer-Based Medical Systems (CBMS)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2011 24th International Symposium on Computer-Based Medical Systems (CBMS)

Y2 - 27 June 2011 through 30 June 2011

ER -

Development of a novel robotic system for hand rehabilitation

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