Dispositivo háptico para la rehabilitación de dedoEstudio preliminar

  1. Almendro, Diego 1
  2. Cisnal, Ana 1
  3. Pérez Turiel, Javier 1
  4. Fraile , Juan Carlos 1
  1. 1 Universidad de Valladolid
    info

    Universidad de Valladolid

    Valladolid, España

    ROR https://ror.org/01fvbaw18

Journal:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Year of publication: 2024

Issue: 45

Type: Article

DOI: 10.17979/JA-CEA.2024.45.10823 DIALNET GOOGLE SCHOLAR lock_openOpen access editor

Abstract

Rehabilitation is crucial for patients who have suffered a cerebrovascular accident. In this context, robotic systems enable repetitive and precise exercises, essential for motor recovery. RobHand, a hand exoskeleton developed by the Institute of Advanced Production Technologies at the University of Valladolid, allows for passive and bilateral therapies, assisting in the individual flexion and extension of the fingers. However, to overcome the limitations of current servomotors, it is proposed to replace them with Faulhaber's linear motors LM2070-040-11, known for their high quality, precision, and back-drivability. We present a preliminary study of implementing impedance control and an assist-as-needed algorithm using these new linear motors. Although this study focuses on one finger, its application is extrapolatable to the entire hand. The results show that this update would significantly improve the system.

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Data source: Dialnet