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Design and Analysis of Four-Finger Three-Joint Underactuated Hand Rehabilitation Mechanism

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

To solve the rehabilitation problem of hand dysfunction caused by stroke and other accidental injuries, an underactuated four-finger three-joint hand rehabilitation mechanism with good physical human-robot interaction performance was designed. The configuration design and operation principle of the mechanism were introduced at first. At the same time, the statics analysis and kinematics simulation of the mechanism were carried out. Finally, the prototype was developed to complete the performance test and operation reliability experiment. The robot innovatively designs a power transmission system using only connecting rod mechanism. Compared with the traditional gear drive or hybrid drive ones, it has a simple structure and can realize synchronous movement of three joints driven by a motor. The experimental results of the prototype show that the mechanism can meet the needs of human finger rehabilitation and effectively improve the physical human-robot interaction performance.

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Authors and Affiliations

  1. Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, 100124, China

    Shuaibang Wang, Mingjie Dong, Ran Jiao, Shuwen Sun & Jianfeng Li

Authors
  1. Shuaibang Wang
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  2. Mingjie Dong
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  3. Ran Jiao
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  4. Shuwen Sun
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  5. Jianfeng Li
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Corresponding author

Correspondence to Shuwen Sun .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wang, S., Dong, M., Jiao, R., Sun, S., Li, J. (2023). Design and Analysis of Four-Finger Three-Joint Underactuated Hand Rehabilitation Mechanism. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_3

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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