Development of functional recovery training device with parallel mechanism for hemiplegic fingers

This paper develops a motor function recovery training device to perform intensive repetition of facilitation exercise for motor functional recovery of the hemiplegic fingers. On the facilitation training, active finger expansion can be realized and facilitated by stretch reflex. In this paper, novel parallel mechanisms, force sensing system with high sensitivity and resistance accompanying cooperation control method are proposed for sensing, controlling and realizing the passive finger flexion, stimulation tapping, stretch reflex, active finger expansion, resistance forces and repetition facilitation exercise. The effectivities of the device are shown by some experiments.