Abstract
The research and application of assisted rehabilitation treatment with the help of flexible robots have gradually formed. Hand function rehabilitation robots have more practical value. It can simulate the movements of human hands and realize the rehabilitation training of human hands. However, due to the thin fingers and many degrees of freedom, it has been a difficult and important point of research. This paper presents a new wearable hand rehabilitation robot with 14 movable joints, which can better simulate human hand movements. A pneumatic muscle (PMS) and a passive slider in reverse by a pair of cylindrical pairs power each active joint. Pneumatic muscles are made of flexible materials with a multi-chamber stepped bending state. The compliance and muscle elasticity can provide a safe and flexible interaction. When inflation occurs, the length of the robot will have nonlinear change. With the characteristics of angular displacement tendency and nonlinear shrinkage provided by the passive slider, the rehabilitation robot system has the characteristics of nonlinear, time-varying and time-delay. The regeneration of nerve fiber endings of muscle control nerves can be promoted by increasing related muscle movements to improve and restore hand function. Using recursive dynamics simulation software, the dynamic simulation analysis of the auxiliary “stretching” and “bending” motion processes was performed to verify the rationality, auxiliary function and ergonomic characteristics of the exoskeleton to achieve the purpose of rehabilitation assistance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Tiziani, L. O., & Hammond, F. L. (2020). Optical sensor-embedded pneumatic artificial muscle for position and force estimation. Soft Robotics. https://doi.org/10.1089/soro.2019.0019.
Nuckols, K. (2019). Proof of Concept of soft robotic glove for hand rehabilitation in stroke survivors. Archives of Physical Medicine and Rehabilitation, 100(12), e195.
Lane, K., Chandler, E., Payne, D., et al. (2020). Stroke survivors’ recommendations for the visual representation of movement analysis measures: A technical report. Physiotherapy, 107, 36–42.
Anam, K., Rosyadi, A. A., & Sujanarko, B. (2018). The design of a low-cost therapy robot for hand rehabilitation of a post-stroke patient. In 2018 International Conference on Computer Engineering, Network and Intelligent Multimedia (CENIM). https://doi.org/10.1109/cenim.2018.8710833.
Goffredo, M., Mazzoleni, S., Gison, A., et al. (2019). Kinematic parameters for tracking patient progress during upper limb robot-assisted rehabilitation: An observational study on subacute stroke subjects. Applied Bionics and Biomechanics, 2, 1–12.
Vu Philip, P., Chestek Cynthia, A., Nason Samuel, R., et al. (2020). The future of upper extremity rehabilitation robotics: Research and practice. Muscle and Nerve, 61(6), 708–718.
Huang, Y. H., Nam, C. Y., Li, W. M., et al. (2020). A comparison of the rehabilitation effectiveness of neuromuscular electrical stimulation robotic hand training and pure robotic hand training after stroke: A randomized controlled trial. Biomedical Signal Processing and Control, 56, 101723.
Irshaidat, M., Soufian, M., Al-Ibadi, A., et al. (2019). A novel elbow pneumatic muscle actuator for exoskeleton arm rehabilitation. In 2019 IEEE International Conference on Soft Robotics (RoboSoft). https://doi.org/10.1109/robosoft.2019.8722813.
Yap, H. K., Lim, J. H., Nasrallah, F., et al. (2015). A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness. In 2015 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4967–4972). Seattle, WA.
Pawar, M. V. (2018) Experimental modelling of pneumatic artificial muscle systems designing of prosthetic robotic arm. In 3rd International Conference for Convergence in Technology (I2CT) (pp. 1–6). Pune.
Pillsbury, T. E., Guan, Q., Wereley, N. M. (2016). Comparison of contractile and extensile pneumatic artificial muscles. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 94–99). Banff, AB.
Sarakoglou, I., Brygo, A., Mazzanti, D., et al. HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1033–1040). Daejeon.
Zhou, Y., Zhang, P., **ao, K., et al. (2017) Research on a new structure of hand exoskeleton for rehabilitation usage. In 2017 4th International Conference on Information Science and Control Engineering (ICISCE) (Vol. 1, pp. 1126–1130). IEEE Computer Society.
Haghshenas-Jaryani, M., Carrigan, W., Nothnagle, C., et al. (2016). Sensorized soft robotic glove for continuous passive motion therapy. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 815–820). Singapore.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
The study was supported by Key projects of national key research and development plan (2017YFF0207400): Research on key technologies and important standards of health services and remote health monitoring for the elderly and the disabled.
Rights and permissions
Copyright information
© 2020 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Chen, L., Li, Y., Han, L., Yuan, L., Sun, Y., Tang, X. (2020). Comparative Analysis Soft Kinematics of Hand Rehabilitation Robot Powered by Pneumatic Muscles. In: Elderly Health Services and Remote Health Monitoring. SpringerBriefs in Applied Sciences and Technology. Springer, Singapore. https://doi.org/10.1007/978-981-15-7154-1_7
Download citation
DOI: https://doi.org/10.1007/978-981-15-7154-1_7
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-7153-4
Online ISBN: 978-981-15-7154-1
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)