A Mechatronic System for Robot-Mediated Hand Telerehabilitation
This paper presents a novel mechatronics master-slave setup for hand telerehabilitation. The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the th...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2015-08, Vol.20 (4), p.1753-1764 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Cortese, Mario Cempini, Marco de Almeida Ribeiro, Paulo Rogerio Soekadar, Surjo R. Carrozza, Maria Chiara Vitiello, Nicola |
| description | This paper presents a novel mechatronics master-slave setup for hand telerehabilitation. The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. In this paper, we also present the results of the experimental characterization carried out to verify the system usability of the proposed architecture with healthy volunteers. |
| doi_str_mv | 10.1109/TMECH.2014.2353298 |
| format | Article |
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The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. 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The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. In this paper, we also present the results of the experimental characterization carried out to verify the system usability of the proposed architecture with healthy volunteers.</description><subject>Architecture</subject><subject>Exoskeleton</subject><subject>Exoskeletons</subject><subject>Gloves</subject><subject>hand</subject><subject>home assistance</subject><subject>Indexes</subject><subject>Joints</subject><subject>Mechatronics</subject><subject>Medical services</subject><subject>Patients</subject><subject>Recording</subject><subject>Rehabilitation</subject><subject>Robot sensing systems</subject><subject>robotics</subject><subject>telerehabilitation</subject><subject>Thumb</subject><subject>wearable</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkE1Lw0AQhhdRsFb_gF4CXrykzmY3-3GSUqoVWgSt4C1sNhOakmbrbnrov3driwdPMwzPO7w8hNxSGFEK-nG5mE5mowwoH2UsZ5lWZ2RANadpPH2dxx0USzln-SW5CmENAJwCHZCncbJAuzK9d11jk4996HGT1M4n7650fbrAqjE9VsnMdFWyxBY9rkzZtE1v-sZ11-SiNm3Am9Mcks_n6XIyS-dvL6-T8Ty1OeN9alSumJRIBadWKMFBGoUV1oAy0xp4WVUGjESBGnJltVVCWChthpUuecaG5OH4d-vd9w5DX2yaYLFtTYduFwoqGcRgriGi9__Qtdv5LraLFGRSMqFYpLIjZb0LwWNdbH2zMX5fUCgOTotfp8XBaXFyGkN3x1CDiH8BcajMGfsB2LlxPg</recordid><startdate>20150801</startdate><enddate>20150801</enddate><creator>Cortese, Mario</creator><creator>Cempini, Marco</creator><creator>de Almeida Ribeiro, Paulo Rogerio</creator><creator>Soekadar, Surjo R.</creator><creator>Carrozza, Maria Chiara</creator><creator>Vitiello, Nicola</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. 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| subjects | Architecture Exoskeleton Exoskeletons Gloves hand home assistance Indexes Joints Mechatronics Medical services Patients Recording Rehabilitation Robot sensing systems robotics telerehabilitation Thumb wearable |
| title | A Mechatronic System for Robot-Mediated Hand Telerehabilitation |
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