Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation

Simon Lemerle; Takahiro Nozaki; Kouhei Ohnishi

doi:10.1109/TII.2018.2796859

Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation

Simon Lemerle, Takahiro Nozaki, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

Hand recovery process is a major issue in the rehabilitation field as hands are vital to perform most daily activities. This paper presents the design and evaluation of a one actuated degree-of-freedom exoskeleton finger using flexible actuator to assist patients in rehabilitation process and more specifically in tendon recovery protocols. The control strategy based on the motion-copying system is used to be able to take advantages of the sensation of the patient. The wearability and adaptability of the device are improved, compared to other specific devices, mainly by the use of remote actuation and light-weight materials. Evaluation of the device in terms of wearability, adaptability, repeatability and accuracy of the position estimation are conducted. All these criteria are confirmed. The next step is to test the device in actual recovery protocols to evaluate its efficiency.

Original language	English
Article number	8267143
Pages (from-to)	5167-5177
Number of pages	11
Journal	IEEE Transactions on Industrial Informatics
Volume	14
Issue number	11
DOIs	https://doi.org/10.1109/TII.2018.2796859
Publication status	Published - 2018 Nov

Keywords

Adaptable
exoskeleton
finger
flexible actuator
motion-copying system
rehabilitation
tendon recovery
wearable

ASJC Scopus subject areas

Control and Systems Engineering
Information Systems
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TII.2018.2796859

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title = "Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation",

abstract = "Hand recovery process is a major issue in the rehabilitation field as hands are vital to perform most daily activities. This paper presents the design and evaluation of a one actuated degree-of-freedom exoskeleton finger using flexible actuator to assist patients in rehabilitation process and more specifically in tendon recovery protocols. The control strategy based on the motion-copying system is used to be able to take advantages of the sensation of the patient. The wearability and adaptability of the device are improved, compared to other specific devices, mainly by the use of remote actuation and light-weight materials. Evaluation of the device in terms of wearability, adaptability, repeatability and accuracy of the position estimation are conducted. All these criteria are confirmed. The next step is to test the device in actual recovery protocols to evaluate its efficiency.",

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note = "Funding Information: Manuscript received July 31, 2017; revised December 1, 2017; accepted December 26, 2017. Date of publication January 23, 2018; date of current version November 1, 2018. This work was partly supported by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (S), 25220903, 2013. Paper no. TII-17-1708. (Corresponding author: Simon Lemerle.) S. Lemerle was with the Ohnishi Laboratory, Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan, He is now with the research center E. Piaggio, Department of Information Engineering at the University of Pisa, Italy, and the Italian Institute of Technology, Genoa, Italy (e-mail: sp.lemerle@gmail.com). Publisher Copyright: {\textcopyright} 2017 IEEE.",

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Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation

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Keywords

ASJC Scopus subject areas

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