Prototype development of a continuous passive motion training system for hand rehabilitation

In Taiwan, many traffic accidents and occupational injuries were reported. Those patients with hand injuries after surgical operation usually prescribed with continuous passive motion (CPM) rehabilitative protocol. However, presently the hand CPM device relies on imports from abroad, which are not only very expensive, but also have limitations in functions (e.g. rehabilitation training can not be performed on 5 fingers simultaneously, besides, during the therapy process, the equipment will not be able to reach the maximal range of motion either). The purpose of this paper is to describe the design of a 'hand continuous passive motion training system which adopts a tendon-driven to move the 5 fingers through the joint driving device. This system constructed as a wearable mechanical glove with 5 fingers. Each finger has 2 freedoms with closed-loop control achieved by force feedback. In addition, a self-weight balancing and supporting mechanism was also designed and used to support the weight of the wearable mechanical glove hence enabling the patient to take up the rehabilitation training safely and comfortably without feeling the mechanical glove weight. Currently the prototype system was completed and clinical testing is now in process.