Jones Christopher L, Wang Furui, Morrison Robert, Sarkar Nilanjan, Kamper Derek G
Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL 60616 USA (
Abbott Laboratories, Princeton, NJ 08540 USA (
IEEE ASME Trans Mechatron. 2014 Feb;19(1):131-140. doi: 10.1109/TMECH.2012.2224359. Epub 2012 Nov 16.
Finger impairment following stroke results in significant deficits in hand manipulation and the performance of everyday tasks. While recent advances in rehabilitation robotics have shown promise for facilitating functional improvement, it remains unclear how best to employ these devices to maximize benefits. Current devices for the hand, however, lack the capacity to fully explore the space of possible training paradigms. Particularly, they cannot provide the independent joint control and levels of velocity and torque required. To fill this need, we have developed a prototype for one digit, the cable actuated finger exoskeleton (CAFE), a three-degree-of-freedom robotic exoskeleton for the index finger. This paper presents the design and development of the CAFE, with performance testing results.
中风后手指损伤会导致手部操作及日常任务执行方面出现显著缺陷。尽管康复机器人技术的最新进展已显示出促进功能改善的前景，但仍不清楚如何最佳地使用这些设备以实现效益最大化。然而，当前的手部设备缺乏充分探索可能训练模式空间的能力。特别是，它们无法提供所需的独立关节控制以及速度和扭矩水平。为满足这一需求，我们开发了一种单指原型设备——缆线驱动手指外骨骼（CAFE），这是一种用于食指的三自由度机器人外骨骼。本文介绍了CAFE的设计与开发以及性能测试结果。
