Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size
Due to the growing demand for assistance in rehabilitation therapies for hand movements, a robotic system is proposed to mobilize the hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that have the ability to fit the user fingers l...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2016/1712831 |
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| author | J. Felipe Aguilar-Pereyra Eduardo Castillo-Castaneda |
| author_facet | J. Felipe Aguilar-Pereyra Eduardo Castillo-Castaneda |
| author_sort | J. Felipe Aguilar-Pereyra |
| collection | DOAJ |
| description | Due to the growing demand for assistance in rehabilitation therapies for hand movements, a robotic system is proposed to mobilize the hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that have the ability to fit the user fingers length from the index to the little finger, through the adjustment of only one link for each mechanism. The trajectory developed by each mechanism corresponds to the natural flexoextension path of each finger. The amplitude of the rotations for metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) varies from 0 to 90° and the distal interphalangeal joint (DIP) varies from 0 to 60°; the joint rotations are coordinated naturally. The four R-RRT mechanisms orientation allows a 15° abduction movement for index, ring, and little fingers. The kinematic analysis of this mechanism was developed in order to assure that the displacement speed and smooth acceleration into the desired range of motion and the simulation results are presented. The reconfiguration of mechanisms covers about 95% of hand sizes of a group of Mexican adult population. Maximum trajectory tracking error is less than 3% in full range of movement and it can be compensated by the additional rotation of finger joints without injury to the user. |
| format | Article |
| id | doaj-art-29f18df2b3ab44a784adad98fd9250ac |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-29f18df2b3ab44a784adad98fd9250ac2025-02-03T01:20:47ZengWileyApplied Bionics and Biomechanics1176-23221754-21032016-01-01201610.1155/2016/17128311712831Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers SizeJ. Felipe Aguilar-Pereyra0Eduardo Castillo-Castaneda1Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional, 76090 Querétaro, QRO, MexicoCentro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional, 76090 Querétaro, QRO, MexicoDue to the growing demand for assistance in rehabilitation therapies for hand movements, a robotic system is proposed to mobilize the hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that have the ability to fit the user fingers length from the index to the little finger, through the adjustment of only one link for each mechanism. The trajectory developed by each mechanism corresponds to the natural flexoextension path of each finger. The amplitude of the rotations for metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) varies from 0 to 90° and the distal interphalangeal joint (DIP) varies from 0 to 60°; the joint rotations are coordinated naturally. The four R-RRT mechanisms orientation allows a 15° abduction movement for index, ring, and little fingers. The kinematic analysis of this mechanism was developed in order to assure that the displacement speed and smooth acceleration into the desired range of motion and the simulation results are presented. The reconfiguration of mechanisms covers about 95% of hand sizes of a group of Mexican adult population. Maximum trajectory tracking error is less than 3% in full range of movement and it can be compensated by the additional rotation of finger joints without injury to the user.http://dx.doi.org/10.1155/2016/1712831 |
| spellingShingle | J. Felipe Aguilar-Pereyra Eduardo Castillo-Castaneda Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size Applied Bionics and Biomechanics |
| title | Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size |
| title_full | Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size |
| title_fullStr | Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size |
| title_full_unstemmed | Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size |
| title_short | Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size |
| title_sort | design of a reconfigurable robotic system for flexoextension fitted to hand fingers size |
| url | http://dx.doi.org/10.1155/2016/1712831 |
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