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A five-bar mechanism to assist finger flexion-extension movement: system implementation

Published online by Cambridge University Press:  01 September 2022

Araceli Zapatero-Gutiérrez Open the ORCID record for Araceli Zapatero-Gutiérrez [Opens in a new window] ,
Eduardo Castillo-Castañeda Open the ORCID record for Eduardo Castillo-Castañeda [Opens in a new window]  and
Med Amine Laribi Open the ORCID record for Med Amine Laribi [Opens in a new window]
Araceli Zapatero-Gutiérrez*
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada Unidad Querétaro, Instituto Politécnico Nacional, Querétaro, Querétaro 76090, México
Eduardo Castillo-Castañeda
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada Unidad Querétaro, Instituto Politécnico Nacional, Querétaro, Querétaro 76090, México
Med Amine Laribi
Affiliation:
Institut PPRIME, Département Génie Mécanique et Systèmes Complexes, Université de Poitiers, Poitiers 86073, France
*
*Corresponding author. E-mail: araceli_zapatero@hotmail.com
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Abstract

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype’s functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism’s performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers’ range of motion, which helps for full patient recovery.

Keywords

five-bar mechanismfinger rehabilitationrehabilitation devices
Type
Research Article
Information
Robotica , Volume 41 , Issue 3 , March 2023 , pp. 976 - 994
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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