Hand rehabilitation robot system for coordination training

Rehabilitation robot for finger coordination training using wire-based flexion and extension control

This technology features a mechanical structure that combines thimbles worn on the patient's fingers with a wire-driven system. It uses encoders and load cells to measure real-time tension and wire length, and employs an inverse kinematics-based control algorithm to precisely manage finger flexion and extension. By integrating a virtual reality (VR) interface, it provides visual feedback to enhance rehabilitation outcomes.

Existing hand rehabilitation robots are often bulky, heavy, expensive, and limited in their range of motion. Some non-wearable systems struggle with precise control or lack the actuators necessary for patients with complete paralysis.

This technology utilizes a wire-driven mechanism that pulls or releases flexion and extension wires connected to the thimbles via motors. By transmitting motor rotation data from encoders and tension data from load cells to the control unit, the system calculates and calibrates the position of the thimbles in real time, enabling precise finger movement rehabilitation.

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Key Features:

• Thimbles worn on the patient's fingers and a flexion wire that forms a loop around two or more thimbles
• Extension wires connected to each thimble to transmit force in the extension direction, and motors to pull or release the wires
• Encoders to sense the rotation of the motors and load cells to sense the tension of each flexion and extension wire
• A control unit that calculates thimble position based on sensor data from encoders and load cells, and selectively operates motors to perform flexion and extension movements

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