Open AccessConcept selection and Kinematic modeling of hand rehabilitation robotic device
Author(s) -
Sunil,
Meby Mathew,
A. P. Sudheer
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1132/1/012033
Subject(s) - exoskeleton , thumb , kinematics , computer science , inverse kinematics , selection (genetic algorithm) , index finger , artificial intelligence , rehabilitation , simulation , robot , physical therapy , medicine , anatomy , physics , classical mechanics
Rehabilitation using an exoskeleton is one of the widely accepted methods for the recovery of lost motor abilities. Most of the present research concentrates on either soft or rigid exoskeletons. In this paper, the design of a five-finger exoskeleton is discussed along with the advantage of soft and rigid bodied exoskeletons. Concept selection for the designs is done using the standard procedure of screening and scoring. Forward and inverse kinematic modeling of thumb and index finger is performed with Denavit-Hartenberg (DH) method.