Design of a hybrid FES-mechanical intelligent haptic robotic glove

Abstract

This paper relays to a research project regarding the design and development of a Hybrid FES-mechanical Intelligent Haptic Robot-Glove (IHRG) for the rehabilitation of the patients who suffered a cerebrovascular accident (CVA). The IHRG is an exoskeleton that supports the human hand and hand activities by using control architectures for dexterous grasping and manipulation. The main aim is to develop a mechanical architecture consisting of a cascade of articulated elements, whose design covers as much as possible the anatomic and functional finger phalanges, providing support for the actuation system.