Research Papers

Gloreha—Hand Robotic Rehabilitation: Design, Mechanical Model, and Experiments

[+] Author and Article Information
Alberto Borboni

Mechanical and Industrial
Engineering Department,
Università degli Studi di Brescia,
Via Branze, 38,
Brescia 25123, Italy
e-mail: alberto.borboni@unibs.it

Maurizio Mor

Design and Research Department,
Polibrixia, Via Branze, 45,
Brescia 25123, Italy
e-mail: maurizio.mor@polibrixia.it

Rodolfo Faglia

Mechanical and Industrial
Engineering Department,
Università degli Studi di Brescia,
Via Branze, 38,
Brescia 25123, Italy
e-mail: rodolfo.faglia@unibs.it

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 5, 2015; final manuscript received April 18, 2016; published online July 11, 2016. Assoc. Editor: Xiaopeng Zhao.

J. Dyn. Sys., Meas., Control 138(11), 111003 (Jul 11, 2016) (12 pages) Paper No: DS-15-1480; doi: 10.1115/1.4033831 History: Received October 05, 2015; Revised April 18, 2016

Stroke patients are often affected by hand impairment. Literature shows different experiences of robotic rehabilitation that is able to prove an intensive and effective therapy. A preliminary analysis of the state of the art evidenced lacks in hand robotic rehabilitation devices. Thus, this work proposes a new rehabilitation device for hand rehabilitation based on a compliant transmission. The mechanical power generator is not on the hand to reduce the weight of the device. The mechanical model of the system is descripted. Experimental results on 126 stroke patients evidenced the efficacy of this device

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Grahic Jump Location
Fig. 1

Visualization of the measured parts of a pathological hand

Grahic Jump Location
Fig. 2

Force realized by the therapist (c) on the patient (a) and measured with a metallic bar housing four strain gauges (b)

Grahic Jump Location
Fig. 3

Wearable glove/orthesis, where 1 is the actuator block and 2 is the transmission

Grahic Jump Location
Fig. 4

Kinematic scheme of finger and orthesis

Grahic Jump Location
Fig. 5

Diagram of the system without closed-loops

Grahic Jump Location
Fig. 6

Pneumatic actuation scheme



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