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JRM Vol.20 No.2 pp. 280-288
doi: 10.20965/jrm.2008.p0280
(2008)

Paper:

Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation

Tetsuya Mouri*, Haruhisa Kawasaki*, Yutaka Nishimoto**,
Takaaki Aoki**, Yasuhiko Ishigure***, and Makoto Tanahashi*

* Department of Human Information System, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

** Gifu University School of Medicine, 1-1 Yanagido, Gifu 501-1194, Japan

*** Marutomi Seiko Co., Ltd.,3147-7 Aza Ikuda, Kurachi, Seki, 501-3936 Japan

Received:
September 28, 2007
Accepted:
November 30, 2007
Published:
April 20, 2008
Keywords:
robot hand, rehabilitation, education, force control
Abstract

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.

Cite this article as:
Tetsuya Mouri, Haruhisa Kawasaki, Yutaka Nishimoto,
Takaaki Aoki, Yasuhiko Ishigure, and Makoto Tanahashi, “Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation,” J. Robot. Mechatron., Vol.20, No.2, pp. 280-288, 2008.
Data files:
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