Robotic glove development with application in robotics rehabilitation

Author

Popescu, Dan ; Ivanescu, Mircea ; Manoiu-Olaru, Sorin ; Burtea, Marian-Ionut ; Popescu, Nirvana

Author_Institution

Fac. of Autom., Univ. of Craiova, Craiova, Romania

fYear

2014

fDate

16-18 Oct. 2014

Firstpage

168

Lastpage

173

Abstract

This paper presents the research activities and results for robotic glove development with application in robotics rehabilitation. In order to implement a good movement of robotic glove fingers a human hand motion was analysed by image processing and a tele-operated robotic hand was developed. Some mechanical structures and actuation systems were tested. In this paper, the control system for a rehabilitation hand exoskeleton is presented. This paper proposes a control scheme dedicated to underactuated fingers with the intention of maximizing the capabilities of the control using position information.

Keywords

dexterous manipulators; medical robotics; motion control; patient rehabilitation; position control; telerobotics; actuation system; control system; human hand motion; image processing; mechanical structure; position information; rehabilitation hand exoskeleton; robotic glove development; robotic glove finger movement; robotic rehabilitation; teleoperated robotic hand; underactuated fingers; Actuators; Exoskeletons; Joints; Robot sensing systems; Thumb; exoskeleton; rehabilitation; robotic glove; robotic hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Power Engineering (EPE), 2014 International Conference and Exposition on

Conference_Location

Iasi

Type

conf

DOI

10.1109/ICEPE.2014.6969890

Filename

6969890