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

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.

Developed finger-wrist rehabilitation device

Developed finger-wrist rehabilitation device

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 Sep. 21, 2023