Iqbal Jamshed, Tsagarakis Nikos G, Fiorilla Angelo E, Caldwell Darwin G
ADVanced Robotics (ADVR) Department, Italian Institute of Technology (IIT) and University of Genova, Italy.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:3694-7. doi: 10.1109/IEMBS.2010.5627448.
This paper presents the design of a direct driven under-actuated portable hand exoskeleton for rehabilitation. The design of the proposed Hand EXOskeleton SYStem (HEXOSYS) was driven by multi-objective optimisation strategy and inspiration from the human hand. The optimisation algorithm resulted in the choice of optimum link lengths of the device. The optimisation criteria are based on dexterity, isotropy and exertion of perpendicular forces on the finger digits. Furthermore, a series of experiments on the human hand using appropriate sensory instrumentation guided the selection of actuators thereby resulting in a rehabilitation device which is compatible with the human hand force capabilities. The provision of force as well as position feedback gives quantitative feedback to the therapist and would imply a more efficient rehabilitation process. The first prototype of the device has been designed and realized.
本文介绍了一种用于康复的直接驱动欠驱动便携式手部外骨骼的设计。所提出的手部外骨骼系统（HEXOSYS）的设计由多目标优化策略和对人手的启发驱动。优化算法确定了该装置最佳连杆长度的选择。优化标准基于灵活性、各向同性以及在手指上施加垂直力。此外，使用适当的传感仪器对手部进行的一系列实验指导了致动器的选择，从而产生了一种与人手力量能力相匹配的康复装置。力反馈和位置反馈的提供为治疗师提供了定量反馈，这意味着康复过程更高效。该装置的首个原型已设计并实现。
