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Design of Upper-limb Rehabilitation Device with Power-assist Function for Stroke Survivals  

Bae, J.H. (동의대학교 지능시스템공학과)
Moon, I. (동의대학교 메카트로닉스공학과)
Publication Information
Journal of rehabilitation welfare engineering & assistive technology / v.5, no.1, 2011 , pp. 79-85 More about this Journal
Abstract
In this paper, we proposed a design of upper-limb rehabilitation device with power-assist function for stroke survivals. The designed upper-limb rehabilitation device has three degrees of freedom； it is possible to perform flexion and extension motions of wrist, index finger and the other fingers except the thumb independently. The power-assist for wrist motion is performed by a pneumatic double-acting cylinder, but the fingers are actuated by electrical linear actuators to assist motions. A prototype upper-limb rehabilitation device and its controller were implemented. The position controller showed 0.8 mm errors in the steady-state. Experimental results showed that the proposed upper-limb rehabilitation device with power-assist function is feasible.
Keywords
Upper-limb Rehabilitation; Power-assist; Stroke survivals;
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