Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation

被引：12

作者：

Mouri, Tetsuya ^{[1
]}

Kawasaki, Haruhisa ^{[1
]}

Nishimoto, Yutaka ^{[2
]}

Aoki, Takaaki ^{[2
]}

Ishigure, Yasuhiko ^{[3
]}

Tanahashi, Makoto ^{[1
]}

机构：

[1] Gifu Univ, Dept Human Informat Syst, 1-1 Yanagido, Gifu 5011193, Japan

[2] Gifu Univ Sch Med, Gifu 5011194, Japan

[3] Marutomi Seiko Co Ltd, Kurachi, Seki 5013936, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2008年 / 20卷 / 02期

关键词：

robot hand; rehabilitation; education; force control;

D O I：

10.20965/jrm.2008.p0280

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Because rehabilitation therapy students have few chances to train on disabled persons, we developed a robot hand for finger and wrist rehabilitation training, working hand with doctors and therapists, based on new design concepts imitating the disabled human hand. A joint torque rehabilitation program is calculated using distributed tactile sensors and a model of contracture joints with tendon adhesion. The hand is controlled by the force control based on torque control. The hand's effectiveness was demonstrated experimentally, and the robot is used by therapists to evaluate its efficacy.

引用

页码：280 / 288

页数：9

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