마비환자의 손 근력보조 및 Pinch 동작이 가능한 휴대용 핸드 외골격 로봇 개발

Abstract

In the case of paralysis caused by brain diseases and accidents, proper rehabilitation and supplementary systems for dailylife are essential. In this study, we designed a system that can enable daily life by supporting the hand of a patient whosefunction has been lost to paralysis. The hand exoskeleton robot proposed in this study can be transported for the purposeof ADL (activities of daily living). It was designed to focus on the most important assistant for the thumb and index finger. The hand exoskeleton robot proposed in this study enables grasp and pinch motor skills during the human hand operationthrough the specific mechanism for the segment movement of the human finger simultaneously. Finally, the fingermovement trace of the wearer through the vision system is measured, respectively.