Parallel controller construction for a multi-DOF hand rehabilitation equipment

Satoshi Ito; Satoshi Ueki; Koji Ishihara; Masayuki Miura; Haruhisa Kawasaki; Yasuhiko Ishigure; Yutakai Nishimoto

doi:10.1117/12.784484

9 January 2008 Parallel controller construction for a multi-DOF hand rehabilitation equipment

Satoshi Ito, Satoshi Ueki, Koji Ishihara, Masayuki Miura, Haruhisa Kawasaki, Yasuhiko Ishigure, Yutakai Nishimoto

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942B (2008) https://doi.org/10.1117/12.784484
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper describes the development of a hand rehabilitation system for stroke patients. Our aim is to provide fine motion exercise for a hand and fingers. Thus, a hand rehabilitation device that assists patients' finger movements was developed. Because this device has 18 degrees of freedom of motion, it is diffcult for disabled patients to use it by themselves. Therefore, an appropriate control strategy and control system are required to allow its safe and effective use. In light of this requirement, a control system was constructed which is comprised of four separated controllers. This paper presents the structure of the control system and introduces the control protocols used in our hand rehabilitation system.

Citation Download Citation

Satoshi Ito, Satoshi Ueki, Koji Ishihara, Masayuki Miura, Haruhisa Kawasaki, Yasuhiko Ishigure, and Yutakai Nishimoto "Parallel controller construction for a multi-DOF hand rehabilitation equipment", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942B (9 January 2008); https://doi.org/10.1117/12.784484

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