Naslov
Grasp-oriented human hand model for use in rehabilitation robotics

Autori
Bazina, Tomislav ; Kamenar, Ervin ; Zelenika, Saša ; Schnurrer Luke Vrbanić, Tea

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Conference Proceedings of the 23rd International EUSPEN Conference / Riemer, R. ; Nisbet, C. ; Phillips, D. - Northampton, UK : European Society for Precision Engineering and Nanotechnology (EUSPEN), 2023, 297-298

ISBN
978-1-9989991-3-2

Skup
23rd International EUSPEN Conference

Mjesto i datum
Kopenhagen, Danska, 12.06.2023. - 16.06.2023

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
rehabilitation robotics ; grasp-oriented hand model ; joint dependency constraints ; open-source implementation

Sažetak
Losing hand functions due to ischemic or haemorrhaging stroke, often resulting in spasticity, causes difficulties in the activities of daily living (ADL), making rehabilitation challenging and important. Using robotic rehabilitation devices is a promising novel approach to exercise the hands, promote patient volition and increase the neural connections. The human hand, with its many degrees of freedom (DOFs), evolutionary formed for precision and power gripping, introduces, however, difficulties in developing specialized rehabilitation devices. Grasp-oriented modelling of hand’s kinematics with simplified but effective mathematical representations is, therefore, critical. The kinematic characterisation performed in this work simplifies the available 24 DOFs biomechanical model to 9 DOFs by constraining the joints via synergies specific to different grasp types and fingers’ inclination angles.The acquired model is compared to the anatomical one, and the effects of intra- and inter-dependent joints are studied. Although the used dependencies reduce slightly the joints’ ranges of motion (ROMs), the important grasping types and the ROMs used in ADL are preserved. The proposed model increases also positioning accuracy.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti, Kliničke medicinske znanosti

POVEZANOST RADA