ICRA 2011 Paper Abstract


Paper WeP108.3

Wang, Furui (Vanderbilt University), Shastri, Milind (Vanderbilt University), Jones, Christopher (Illinois Institute of Technology), Gupta, Vikash (Vanderbilt University), Osswald, Christian (Illinois Institute of Technology), Kang, Xuan (Rehabilitation Institute of Chicago), kamper, derek (Rehabilitation Institute of Chicago (RIC)), Sarkar, Nilanjan (Vanderbilt university)

Design and Control of an Actuated Thumb Exoskeleton for Hand Rehabilitation Following Stroke

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics III" (WeP108), Wednesday, May 11, 2011, 14:10−14:25, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Rehabilitation Robotics


Abstractó Chronic hand impairment is common following stroke. This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in hand rehabilitation therapy. The ATX presented in this work permits independent bi-directional actuation in each of the 5 degrees-of-freedom (DOF) of the thumb using a mechanism that has 5 active DOF and 3 passive DOF. The ATX is able to provide considerable joint torques for the user while still allowing backdrivability through flexible shaft transmission. A prototype has been built and experiments were conducted to evaluate the closed-loop position control. Further improvement and future work are discussed.



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