A Novel Cable-Driven Exoskeletal Hand Robotic Rehabilitation Device: the Application of Miniature Joint Sensors and the Development of Closed-Loop Joint Position Control( I )

The robotic devices for hand rehabilitation are relatively lacking in the present rehabilitation service. Patients with stroke tend to have relatively severely impairment in the upper limbs compared with the lower limbs. Also, their distal upper limbs are more severely affected by their proximal upper limbs. In this sense, patient cannot perform complex upper limb rehabilitation activities and can only perform shoulder-elbow movement simply because they cannot grasp, limiting the activities in the patient’s rehabilitation program and quality of life. Therefore, robotic devices for hand function can fill in the gap of therapeutic services, bringing hope for these stroke patients. The present project will use the cable-driven robotic device for hand rehabilitation developed by the present multi-disciplinary research group through the Minster of Science and Technology Project (Sep-2014 to Aug-2017, MOST-105-2218-E-007-007, “Development of customized robotic-assistive exoskeleton system for palm-finger physical rehabilitation”). (1) First, we evaluate the feasibility of a novel joint angle sensor that applies accelerometers and gyroscopes as compared with the results determined by sensors that determine the cable position, a functionality that is fundamental for patient safety and closely loop control. (2) Second, we test the feasibility of the device by applied it to simulated artificial hands with various degrees of spasticity (elasticity), an approach that could determine the relative joint motion between distal interphalangeal (DIP) and metacarpophalangeal (MCP) joints when a finger is passively flexed by the cable. We also seek to develop closed-loop control that could make sure consistence DIP vs. MCP joint motions is a variety of patient conditions. The results of this study will determine the clinical indication for the cable-driven robotic device and illustrate the accuracy of the novel joint angle sensors, providing important accuracy analysis and risk analysis for a cable-driven robotic device.

Project ID:PC10703-0072
External Project ID:MOST106-2218-E182-001