Hand Motion Assist Robot for Rehabilitation Therapy
Haruhisa Kawasaki*1, Satoshi Ito*1, Yutaka Nishimoto*2,
Satoshi Ueki*3, Yasutaka Ishigure*4, and Tetsuya Mouri*1
*1Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
*2School of Medicine, Gifu University, 1-1 Yanagido, Gifu 501-1194, Japan
*3Toyota National College of Technology, 2-1 Eiseicho, Toyota, Aichi 471-8525, Japan
*4Marutomi Seikou Company Ltd., Aza Ikuda, Kurachi, Seki 501-3936, Japan
This report presents a new hand motion assist robot for rehabilitation therapy. The robot has exoskeleton with 18 DOFs and a self-motion control – symmetrical master-slave motion assistance training. It assists independent flexion/extension and abduction/adduction of individual hand joints, thumb opposability, palmar flexion/dorsiflexion of the wrist, and forearm pronation/supination.
-  H. Kawasaki, S. Ito, Y. Ishigure, Y. Nishimoto, T. Aoki, T. Mouri, H. Sakaeda, and M. Abe, “Development of Hand Motion Assist Robot for Rehabilitation Therapy by Patient Self-Motion Control,” Proc. of Int. Conf. on Robot Rehabilitation (ICORR 2007), pp. 234-240, 2007.
-  S. Ueki, H. Kawasaki, S. Ito, Y. Nishimoto, M. Abe, T. Aoki, Y. Ishigure, T. Ojika, and T. Mouri, “Development of a Hand-Assist Robot With Multi-Degrees-of-Freedom for Rehabilitation Therapy,” IEEE/ASME Trans. on Mechatronics, Vol.17, No.1, pp. 136-146, 2011.