PORTO @ 
Archivio Istituzionale della Ricerca
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThis paper analyzes the use of a McKibben pneumatic artificial muscle in a device for hand rehabilitation. This kind of actuator is widely implemented in several contexts related to human-machine mechanical interaction, such as robotics and rehabilitation, but a quantitative assessment of its suitability for such applications is often lacking. The structure of a system for retrieval of extension in a rigid finger is outlined, as well as the definition of operating characteristics like the finger workspace and the fingertip trajectory. A mathematical model for the whole system is presented, then the kinematic and static analyses are performed, leading to the calculation of the torques at the joints of the patient’s finger. Finally, the results of the simulations are discussed. The work demonstrates that the use of a pneumatic muscle can lead to the realization of an effective and well controlled rehabilitation system.
Hand rehabilitation device actuated by a pneumatic muscle / DE BENEDICTIS, Carlo; Franco, Walter; Maffiodo, Daniela; Ferraresi, Carlo. - ELETTRONICO. - 67(2019), pp. 102-111.
| Titolo: | Hand rehabilitation device actuated by a pneumatic muscle |
| Autori: | |
| Data di pubblicazione: | 2019 |
| Titolo del libro: | Advances in Service and Industrial Robotics. Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018) |
| Serie: | |
| Abstract: | This paper analyzes the use of a McKibben pneumatic artificial muscle in a device for hand rehabi...litation. This kind of actuator is widely implemented in several contexts related to human-machine mechanical interaction, such as robotics and rehabilitation, but a quantitative assessment of its suitability for such applications is often lacking. The structure of a system for retrieval of extension in a rigid finger is outlined, as well as the definition of operating characteristics like the finger workspace and the fingertip trajectory. A mathematical model for the whole system is presented, then the kinematic and static analyses are performed, leading to the calculation of the torques at the joints of the patient’s finger. Finally, the results of the simulations are discussed. The work demonstrates that the use of a pneumatic muscle can lead to the realization of an effective and well controlled rehabilitation system. |
| ISBN: | 978-3-030-00231-2 978-3-030-00232-9 |
| Appare nelle tipologie: | 2.1 Contributo in volume (Capitolo o Saggio) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| raad2018-author-proof.pdf | Post-print (author proof) document | 2. Post-print / Author's Accepted Manuscript | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
| raad2018-postprint-pub.pdf | Publisher post-print | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2715092
Copyright © 2021