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http://dx.doi.org/10.5369/JSST.2012.21.3.192

Hand Pressing Control Using the Five-Axis Force/Moment Sensor of Finger Rehabilitation  

Kim, Hyeon-Min (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
Publication Information
Journal of Sensor Science and Technology / v.21, no.3, 2012 , pp. 192-197 More about this Journal
Abstract
This paper describes the control of the hand fixing system attached to the finger rehabilitation robot for the rehabilitation exercise of patient's fingers. The finger rehabilitation robot is used to exercise the finger rehabilitation, and a patient's hand is safely fixed using the hand fixing system. In this paper, the hand fixing system was controlled with PD gains to fix a palm of the hand, and the characteristic test for the hand fixing system was carried out to sense the fixed hand movement of the front and the rear, that of the left and the right, and that of the upper. It is thought that the hand fixing system could safely fix the hand, and the movement of the fixed hand could be perceived using the five-axis force/moment sensor attached to the hand fixing system.
Keywords
Control System; Hand Fixing System; Rehabilitation Robot; Finger Rehabilitation; Five-axis Force/Moment Sensor; Interference Error; Rated Output;
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Times Cited By KSCI : 1  (Citation Analysis)
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