Development of a 2DOF robotic device for hand rehabilitation
Tutor/a - Director/a
Gassert, Roger
Estudiant
Font, Francisco José
Tipus de document
Projecte/Treball Final de Carrera
Data
2011
rights
Accés obert
Editorial
Eidegenössische Technische Hochschule Zürich
Titulacions
UPCommons
Resum
Most of the stroke survivors lose hand and arm skill which can be partially recovered
through intensive rehabilitation. Studies show that robot-assisted rehabilitation is
e ective, providing a more motivating environment and a better assessment of the
patient than traditional rehabilitation. The goal of this master thesis is to develop a
cheap, portable and commercially viable grasping and pronation/supination movements
rehabilitation robot based on an existing prototype, the ReHapticKnob. The
built device interacts with the human hand through two nger supports. The device
has two independently actuated and lockable degrees of freedom (DoF): the
translational DoF a ects hand opening and closing and the rotational DoF a ects
hand rotation. The device is controlled via a laptop programmed by LabView and
implementing an admittance control scheme. The nger supports are able to exert
a continuous force of 35 N and 1.3 Nm on the user's hand. Furthermore, the
device control can make the supports resistance to be moved by the hand almost
imperceptible if desired, which permits the device to render a wide variety of virtual
scenarios at the haptic level.
Professorat participant
- Gassert, Roger