Robotic glove development with application in robotics rehabilitation

摘要

This paper presents the research activities and results for robotic glove development with application in robotics rehabilitation. In order to implement a good movement of robotic glove fingers a human hand motion was analysed by image processing and a tele-operated robotic hand was developed. Some mechanical structures and actuation systems were tested. In this paper, the control system for a rehabilitation hand exoskeleton is presented. This paper proposes a control scheme dedicated to underactuated fingers with the intention of maximizing the capabilities of the control using position information.