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This paper develops a motor function recovery exercise device to perform intensive repetition of facilitation exercise for motor functional recovery of the hemiplegic fingers. On the facilitation exercise, active finger expansion can be realized and facilitated by stretch reflex. When the figer is being flexed passively, a stimulation tapping is applied instantaneously on the finger for making strech...
Rehabilitation Robotics involves the use of robotic systems as an enabling technology for people with kinetic problems, in order to help them recover from a physical trauma. This paper presents the investigation of a robotic system for stroke and post hand-surgery patient rehabilitation, in order to gradually regain flexibility in their finger-joints by passively extending and flexing their fingers...
This paper presents a low-cost virtual-reality environment for training finger individuation in stroke survivors with chronic hand impairment. Users play an ergonomic 5-key virtual piano while receiving either assistance or resistance from a pneumatically actuated glove. The level of assistance and the difficulty of the task can be modulated by a therapist.
In this paper we investigate the key factors associated with the realization of a hand exoskeleton that could be embedded in an astronaut glove for EVA (Extra Vehicular Activities). Such a project poses several and varied problems, mainly due to the complex structure of the human hand and to the extreme environment in which the glove operates. This work provides an overview of existing exoskeletons...
In this paper, a statistical analysis had been carried out on the measured joint angles of the human hand's fingers while performing some common tasks. By exploiting the correlation existing on some couples of joints, we can reduce the number of myoelectric sensors necessary to drive a (virtual or real) hand prosthesis, while still maintaining an acceptable hand's Degree of Freedom (DoF). In order...
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria...
A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage...
Automatic motion generation for digital character under the real-time user control is a challenging problem for computer graphic research and virtual environment applications such as on-line games. The present study introduces a methodology to generate a glove puppet animation which is controlled by a new input device, called the Smart Glove, capturing the hand motion. An animation system is proposed...
The development of a biomechatronic hand with multi-FSRs (Force Sensitive Resistor) interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion and extension independently...
Body awareness has important implications for the use of Virtual Reality (VR) and its effectiveness. This involves the senses of agency and body ownership. The possibility of producing the Rubber Hand Illusion (RHI) in VE (the sense of feeling a fake virtual body part seems like the one??s own part), has been proven in the past, by giving the user synchronous 3D visual stimulation and passive tactile...
The paper presents results from a virtual reality (VR)-based system for upper limb rehabilitation. The system incorporates a range of interchangeable direction sensing devices (the Optical Linear Encoder (OLE) and the inertial measurement unit (IMU)) that can be adjusted to a large range of different arm and hand sizes, and interactive practice applications designed for motivating and seamlessly driving...
This paper describes the design, construction, installation and maintenance of an interactive dextrous robot hand exhibit built for display at one of the United Kingdom's largest science and technology museums. The vast majority of dextrous robot hands are used in laboratory environments and so long term reliability is rarely a major design consideration. However, reliability is critically important...
This paper presents the design and validation of a wearable glove-based multi-finger motion capture device (SmartGlove) with a specific focus on the development of a new optical linear encoder (OLE). The OLE specially designed for this project has a compact size, light weight and low power consumption. The characterization tests also show that the OLE's digital output has good linearity and accuracy...
Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stroke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven...
Online signature verification is a dynamic method in which the biometric system recognizes the signature by analyzing its characters such as acceleration, pressure, and orientation. The system make used of a data glove which is originally designed for virtual reality application as an input device. The proposed technique for online signature verification is based on the singular value decomposition...
The novel ??OrthoJacket?? device aims at restoring restricted or completely lost hand and arm functions in highly tetraplegic spinal cord-injured (SCI) individuals. This system is based on the combination of a hybrid orthosis with integrated fluidic actuators and functional electrical stimulation (FES). Its primary goal is the improvement of paralyzed upper extremity functions and, thus, to enhance...
A bidirectional force feedback dataglove actuated by pneumatic artificial muscles is introduced which has simpler exoskeleton structure and exerts bidirectional force only on the fingertips. Moreover, its fewer attachments can reduce the effect of the attachment looseness on the accuracy of position and force control. It meets all needs of virtual reality and the requirement of hand rehabilitation...
A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
Human hand and finger movements are of obvious importance. The possibility of recording all fingers joints movements during everyday life is then strategic for medical diagnosis, surgery and post traumatic rehabilitation. A proper presentation of recorded data can be really useful for doctors and therapists to correctly act in the occurrence of peripheral nerve injury, rigidities, camptodactyly (decline...
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