Design and Evaluation of a Remote Actuated Finger Exoskeleton using Motion-Copying System for Tendon Rehabilitation

Simon Lemerle, Takahiro Nozaki, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Hand recovery process is a major issue in the rehabilitation field as hands are vital to perform most daily activities. This paper presents the design and evaluation of a one actuated degree-of-freedom exoskeleton finger using flexible actuator to assist patients in rehabilitation process and more specifically in tendon recovery protocols. The control strategy based on the motion-copying system is used to be able to take advantages of the sensation of the patient. The wearability and adaptability of the device are improved, compared to other specific devices, mainly by the use of remote actuation and light-weight materials. Evaluation of the device in terms of wearability, adaptability, repeatability and accuracy of the position estimation are conducted. All these criteria are confirmed. The next step is to test the device in actual recovery protocols to evaluate its efficiency.

Original languageEnglish
JournalIEEE Transactions on Industrial Informatics
DOIs
Publication statusAccepted/In press - 2018 Jan 22

Fingerprint

Copying
Tendons
Patient rehabilitation
Recovery
End effectors
Actuators
Exoskeleton (Robotics)

Keywords

  • Actuators
  • Adaptable
  • Exoskeleton
  • Exoskeletons
  • Finger
  • Flexible Actuator
  • Force
  • Medical treatment
  • Motion-Copying System
  • Performance evaluation
  • Rehabilitation
  • Robustness
  • Tendon Recovery
  • Tendons
  • Wearable

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

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abstract = "Hand recovery process is a major issue in the rehabilitation field as hands are vital to perform most daily activities. This paper presents the design and evaluation of a one actuated degree-of-freedom exoskeleton finger using flexible actuator to assist patients in rehabilitation process and more specifically in tendon recovery protocols. The control strategy based on the motion-copying system is used to be able to take advantages of the sensation of the patient. The wearability and adaptability of the device are improved, compared to other specific devices, mainly by the use of remote actuation and light-weight materials. Evaluation of the device in terms of wearability, adaptability, repeatability and accuracy of the position estimation are conducted. All these criteria are confirmed. The next step is to test the device in actual recovery protocols to evaluate its efficiency.",
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