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- Title
Hand exoskeleton for rehabilitation therapies with integrated optical force sensor.
- Authors
Díez, Jorge A.; Blanco, Andrea; Catalán, José María; Badesa, Francisco J.; Lledó, Luis Daniel; García-Aracil, Nicolas
- Abstract
This article presents the design of a hand exoskeleton that features its modularity and the possibility of integrating a force sensor in its frame. The modularity is achieved by dividing the exoskeleton in separate units, each one driving a finger or pair of them. These units or ''finger modules'' have a single degree of freedom and may be easily attached or removed from the robot frame and human fingers by snap-in fixations. As for the force sensing capability, the device relies on a novel force sensor that uses optical elements to amplify and measure small elastic deformations in the robot structure. This sensor can be fully integrated as a structural element of the finger module. The proposed technology has been validated in two experimental sessions. A first study was performed in a clinical environment in order to check whether the hand exoskeleton (without the integrated force sensor) can successfully move an impaired hand in a ''Mirror Therapy'' environment. A second study was carried with healthy subjects to check the technical feasibility of using the integrated force sensor as a human-machine interface.
- Subjects
ROBOTIC exoskeletons; DETECTORS; ROBOTICS; ROBOT dynamics; HUMAN-computer interaction
- Publication
Advances in Mechanical Engineering (Sage Publications Inc.), 2018, Vol 10, Issue 2, p1
- ISSN
1687-8132
- Publication type
Article
- DOI
10.1177/1687814017753881