A robotic hand rehabilitation system with interactive gaming using novel electro-rheological fluid based actuators

Ozer Unluhisarcikli, Brian Weinberg, Mark Sivak, Anat Mirelman, Paolo Bonato, Constantinos Mavroidis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Scopus citations

Abstract

A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
PublisherInstitute of Electrical and Electronics Engineers
Pages1846-1851
Number of pages6
ISBN (Print)9781424450381
DOIs
StatePublished - 1 Jan 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 3 May 20107 May 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period3/05/107/05/10

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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