This paper presents a new type of finger rehabilitation system using amultifingered haptic interface that is controlled by the patient\r\nthough a surface electromyogram.We have developed themultifingered haptic interface robot: HIROIII that can give 3-directional\r\nforces to 5 fingertips. This robot can also be used as a rehabilitation device that can provide various fingertip exercises and measure\r\nvarious types of information. The sEMG works together with the HIRO III to consider the patient�s intent. The proposed system\r\nis intended for patients having paralysis in the hand and fingers, and the motions will be provided as biofeedback to the fingertips\r\nwith the device. In contrast to completely passive rehabilitation, the proposed system can provide active rehabilitation using sEMG.\r\nThe experiment involved finger opening and closing with this system by ten able-bodied subjects. The results show that almost all\r\nsubjects felt appropriate motion support from the device.
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