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dc.contributor.authorMoreno-SanJuan, Victor
dc.contributor.authorCisnal de la Rica, Ana
dc.contributor.authorFraile Marinero, Juan Carlos 
dc.contributor.authorPérez Turiel, Javier 
dc.contributor.authorFuente López, Eusebio de la 
dc.date.accessioned2024-02-05T16:52:15Z
dc.date.available2024-02-05T16:52:15Z
dc.date.issued2021
dc.identifier.citationDesign and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitation, Robotics and Autonomous Systems, Volume 143, 2021, 103828, ISSN 0921-8890es
dc.identifier.issn0921-8890es
dc.identifier.urihttps://uvadoc.uva.es/handle/10324/65758
dc.descriptionProducción Científicaes
dc.description.abstractThe spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability of lightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with these goals in mind. It is a hand exoskeleton especially suitable for patients suffering from spasticity in the fingers since it is easy to place in the hand and, from an underactuated design, allows both flexion and extension of the fingers. In this work, the structural characteristics, the mechanical design and the development and validation of the kinematic model of the device are presented, all of which has been carried out taking into account the recommendations of the new IEC 80601-2-78 standard, which formalizes the concept of RACA (Rehabilitation, Assessment, Compensation, Alleviation) robot and addresses aspects of efficiency and safety, essential in this type of equipment.es
dc.format.mimetypeapplication/pdfes
dc.language.isospaes
dc.publisherELSEVIERes
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses
dc.subject.classificationRACA robots; Hand exoskeleton; Stroke rehabilitation; Underactuated mechanisms; Mechanical design; Kinematic modeles
dc.titleDesign and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitationes
dc.typeinfo:eu-repo/semantics/articlees
dc.identifier.doi10.1016/j.robot.2021.103828es
dc.identifier.publicationfirstpage103828es
dc.identifier.publicationtitleRobotics and Autonomous Systemses
dc.identifier.publicationvolume143es
dc.peerreviewedSIes
dc.description.projectMinistry of Science and Innovation of Spain Project IDI-20170263.es
dc.type.hasVersioninfo:eu-repo/semantics/publishedVersiones


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