Research Information System
in: Informatics and Technology Transfer: Bridging Innovation and Implementation, İsmail Çetin, Editor, Pegem A Yayıncılık, Ankara, pp.84-91, 2024
Stroke
can cause the dysfunction of hand so that patients lose the ability to perform
daily activities and social life. Due to the new control techniques and
microactuators technology, more sophisticated exoskeleton devices which are
more flexible, responsive and smart are being developed. This paper presents the design of a
multifingered hand rehabilitation robot with 18 DOF which could be used to
train the patients’ hand after stroke. A cable driven flexible four bar mechanism
system is designed. A two-sided linear actuator to drive fingers for prescribed
actions is designed. For each DOF, a motor is included. The robot is a
multifunctional device that can be specialized for single subject use or for
rehabilitation centres allowing the flexion and extension of each joint of
fingers and abduction/adduction movements of hand and wrist. The design and
manufacturing of the rehabilitation robot was performed. The dynamic model of
the system was derived by using Lagrange formulation. The control system was
simulated in MATLAB. The obtained results confirmed that the robot hand
conforms to the objective.