JRM Vol.32 No.5 pp. 1044-1051
doi: 10.20965/jrm.2020.p1044


Development of Finger-Wrist Rehabilitation Device Using Pneumatically Driven Parallel Sticks

Yasuko Matsui*, Daiki Hosomi**, and Masahiro Takaiwa*

*Graduate School of Technology, Industrial and Social Sciences, Tokushima University
2-1 Minamijyousanjima-cho, Tokushima 770-8506, Japan

**Graduate School of Advanced Technology and Science, Tokushima University
2-1 Minamijyousanjima-cho, Tokushima 770-8506, Japan

May 11, 2020
August 27, 2020
October 20, 2020
rehabilitation robot, pneumatic system, finger and wrist motion, camera support rehabilitation, disturbance observer
Developed finger-wrist rehabilitation device

Developed finger-wrist rehabilitation device

Japan has an aging population, and the number of patients with physical impairment is increasing owing to aging and accidents. A contracture is a state in which joint movements are worsened owing to the hardening and loss of elasticity of the surrounding soft tissue such as muscle and skin, when a patient is immobile or bedridden for long durations. In particular, finger and wrist contractures can cause many inconveniences in daily life. Thus far, some rehabilitation devices have been developed. A power assist glove extends the finger but is difficult for patients to wear. This study focuses on wearability and risk avoidance, and develops a device with two parallel sticks that are driven by pneumatic actuators to simulate the motion of a physical therapist. After verifying the fundamental control performances, the safety function based on the estimated force applied by the patient and the improvement of effectiveness in rehabilitation using a USB camera are discussed.

Cite this article as:
Y. Matsui, D. Hosomi, and M. Takaiwa, “Development of Finger-Wrist Rehabilitation Device Using Pneumatically Driven Parallel Sticks,” J. Robot. Mechatron., Vol.32 No.5, pp. 1044-1051, 2020.
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Last updated on May. 24, 2023