RT info:eu-repo/semantics/article
T1 Design and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitation
A1 Moreno-SanJuan, Victor
A1 Cisnal de la Rica, Ana
A1 Fraile Marinero, Juan Carlos
A1 Pérez Turiel, Javier
A1 Fuente López, Eusebio de la
K1 RACA robots; Hand exoskeleton; Stroke rehabilitation; Underactuated mechanisms; Mechanical design; Kinematic model
AB The spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability oflightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with thesegoals in mind. It is a hand exoskeleton especially suitable for patients suffering from spasticity in thefingers since it is easy to place in the hand and, from an underactuated design, allows both flexionand extension of the fingers. In this work, the structural characteristics, the mechanical design andthe development and validation of the kinematic model of the device are presented, all of whichhas 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) robotand addresses aspects of efficiency and safety, essential in this type of equipment.
PB ELSEVIER
SN 0921-8890
YR 2021
FD 2021
LK https://uvadoc.uva.es/handle/10324/65758
UL https://uvadoc.uva.es/handle/10324/65758
LA spa
NO Design and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitation, Robotics and Autonomous Systems, Volume 143, 2021, 103828, ISSN 0921-8890
NO Producción Científica
DS UVaDOC
RD 27-dic-2024