VI. Conclusion and Future Work
6.2 Future Work
Currently, we have only designed the robotic thumb and index finger for the stroke patients. In the future, we are going to invent further for the five fingers to improve the hand exoskeleton functioning together. The considerations of gravity
67
compensation and disturbance resistance capabilities are important to guarantee a firm grasping. It will also be interesting to conduct satisfaction survey to verify the assistive performance of exoskeleton device with different control algorithm, for example compare the compliance control and pure position control which applied in exoskeleton device. Furthermore, more practical experiments on patients and evaluation of hand rehabilitation will be studied in future.
68
References
[1] 台大醫院衛教資料: “台灣腦血管疾病的現況”
http://www.ntuh.gov.tw/neur/衛教資料/DocLib2/中風的預防/臺灣腦血管疾病 的現況.aspx
[2] America National Stroke Association.
http://www.stroke.org/site/PageNavigator/HOME
[3] D. W. Duncan, R.K. Bode, S. Min Lai and S. Perera, “Rasch Analysis of a New StrokeSpecific Outcome Scale: the Stroke Impact Scale,” Archives of Physical
Medicine Rehabilitation, Vol. 84, pp. 950-63, 2003.
[4] V. W. Mark and E. Taub, “Constraint-induced Movement Therapy for Chronic Stroke Hemiparesis and Other Disabilities,” Restorative Neurology and
Neuroscience, Vol. 22, No. 3-5, pp.317-336, 2004.
[5] R. Tubiana, J. M. Thomine and E. Mackin, Examination of the Hand and Wrist,
2nd ed., Taylor & Francis, 1998.
[6] Donald A. Neumann, Kinesiology of the Musculoskeletal System: Foundations for
Rehabilitation, 2nd ed., Mosby Elsevier, 2010.
[7] DR.Tummy.com.
http://drtummy.com/index.php?option=com_content&view=article&catid=84:hea ders&id=321:bones-of-the-hand&Itemid=58
[8] Y. Wu and T. S. Huang, “Human Hand Modeling, Analysis and Animation in the Context of HCI,” in Proc. of International Conference on Image Processing, Kobe, Japan, 1999, pp. 6-10.
[9] Whitney Lowe, Orthopedic Assessment in Massage Therapy, Daviau-Scott, 2006.
[10] J. Lee and T. Kunii, “Model-based Analysis of Hand Posture,” IEEE Computer
Graphics and Applications, vol.15, pp. 77-86, 1995.
69
[11] National Institute of Neurological Disorders and Stroke: Post-Stroke Rehabilitation Fact Sheet.
http://www.ninds.nih.gov/disorders/stroke/poststrokerehab.htm
[12] M. Rensink, M. Schuurmans, E. Lindeman and T. Hafsteinsdόttir, “Task-oriented Training in Rehabilitation After Stroke: Systematic Review,” Journal of
Advanced Nursing, Doi: 10.1111/j.1365-2648.2008.0429.x, 2009.
[13] A. A. A. Timmermans, H. A. M. Seelen, R. P. J. Geers, P. K. Saini, S. Winter, J.
te Vrugt and H. Kingma, “Sensor-based Arm Skill Training in Chronic Stroke Patients: Result on Treatment Outcome, Patient Motivation, and System Usability,”
IEEE Transactions on Neural System and Rehabilitation, Vol.18, pp.284-292,
2010.[14] Joel Stein, Richard L. Harvey, Richard F. Macko, Carolee J. Winstein and Richard D. Zorowitz, Stroke Recovery and Rehabilitation, Demos Medical, 2008.
[15] N. Maclean, P. Pound, C. Wolfe, A. Rudd, “Qualitative Analysis of Stroke Patients' Motivation for Rehabilitation,” British Medical Journal, 321:1051-1054, 2000.
[16] J. J. Park, Y. J. Lee, J. B. Song and H. S. Kim, “Safe Joint Mechanism Based on Nonlinear Stiffness for Safe Human-Robot Collision,” in Proc. of IEEE
International Conference on Robotics and Automation, Pasadena, CA, 2008, pp.
2177-2182.
[17] J. J. Park, H. S. Kim and J. B. Song, “Safe Robot Arm with Safe Joint Mechanism using Nonlinear Spring System for Collision Safety,” in Proc. of
IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009,
pp. 3371-3376.[18] J. J. Park and J. B. Song, “Safe Joint Mechanism using Inclined Link with Springs for Collision Safety and Positioning Accuracy of a Robot Arm,” in Proc.
of IEEE International Conference on Robotics and Automation, Anchorage,
Alaska, U.S., 2010, pp. 813-818.[19] N. Hogan, “Impedance Control: an Approach to Manipulation. Part I: Theory,
70
Part II: Implementation, Part III: Application,” Transaction of ASME, Journal of
Dynamic Systems, Measurement, and Control, vol.107, pp. 1-23, 1985.
[20] H. Kazerooni, “Robust Compliant Motion：Impedance Control,” in Proc. of IEEE
Conference on Robotics and Automation, Albuquerque, New Mexico, U.S., 1986,
pp.185-188.[21] R. J. Anderson and M. W. Spong, “Hybrid Impedance Control of Robotics Manipulators,” IEEE Transactions on Robotics and Automation, Vol.4, No.5, pp.549-556, 1988.
[22] G. J. Liu and A. A. Goldenberg, “Robust Hybrid Impedance Control of Robot Manipulators,” in Proc. of IEEE Conference on Robotics and Automation, CA, USA, 1991, pp.287-292.
[23] Y. Yang, L. Wang, J. Tong and L. Zhang, “Arm Rehabilitation Robot Impedance Control and Experimentation,” in Proc. of IEEE Conference on Robotics and
Biomimetics, Kunming, China, 2006, pp. 914-918.
[24] J. Jalani, G. Herrmann and C. Melhuish, “Robust Active Compliance Control for Practical Grasping of a Cylindrical Object via a Multifingered Robot Hand,” in
Proc. of IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao, China, 2011, pp. 316-321.
[25] R. Paul and B. Shimano, “Compliance and Control,” in Proc. of Joint
Automation Control Conference, New York, 1976, pp.694-699.
[26] J. J. Craig and M. H. Raibert, “Hybrid Position/Force Control of Manipulators,”
Journal of Dynamic Systems, Measurement and Control, Vol.102, pp. 126-133,
1981.[27] M. T. Mason, “Compliance and Force Control for Computer Controlled Manipulators,” IEEE Transactions on Systems, Man, and Cybernetics, Vol.11, No. 6, pp. 418-432, 1981.
[28] M. H. Raibert and J. J. Craig, “Hybrid Position/Force Control of Manipulators,”
Journal of Dynamic Systems, Measurement and Control, Transactions of the
ASME, Vol.103, pp. 275-282, 1981.
71
[29] S.Parasuraman, Arif Wicaksono Oyong and Velappa Ganapathy, “Development of Robot Assisted Stroke Rehabilitation System of Human Upper Limb,” in Proc.
of 5
thAnnual IEEE Conference on Automation Science and Engineering,
Bangalore, India, 2009, pp. 256-261.[30] Yupeng Ren, Hyung-Soon Park and Li-Qun Zhang, “Developing a Whole-Arm Exoskeleton Robot with Hand Opening and Closing Mechanism for Upper Limb Stroke Rehabilitation,” in Proc. of 11th
International Conference on Rehabilitation Robotics, Kyoto, Japan, 2009, pp. 761-765.
[31] Y. Hasegawa, Y. Mikami, K. Watanabe and Y. Sankai, “Five-Fingered Assistive Hand with Mechanical Compliance of Human,” in Proc. of IEEE International
Conference on Robotics and Automation, Pasedena, CA, USA, 2008, pp.
718-724.
[32] Kexin Xing, Qi Xu and Yongji Wang, “Design of Wearable Rehabilitation Robotic Hand Actuated by Pneumatic Artificial Muscles, ” in Proc. of 7th
Asian Control Conference, Hong Kong, China, 2009, pp. 740-744.
[33] H. Yamaura, K. Matsushita, R. Kato and H. Yokoi, “Development of Hand Rehabilitation System Using Wire-Driven Link Mechanism for Paralysis Patients, ” in Proc. of IEEE International Conference on Robotics and
Biomimetics, Guilin, China, 2009, pp. 209-214.
[34] Yili Fu, Qinchao Zhang, Fuhai Zhang and Zengkang Gan, “Design and Development of a Hand Rehabilitation Robot for Patient-cooperative Therapy Following Stroke, ” in Proc. of IEEE International Conference on
Mechatronics and Automation, Beijing, China, 2011, pp. 112-117.
[35] N. S. K. Ho, K. Y. Tong, X. L. Hu, K. L. Fung, X. J. Wei, W. Rong and E. A.
Susanto, “An EMG-driven Exoskeleton Hand Robotic Training Device on Chronic Stroke Subjects-Task Training System for Stroke Rehabilitation, ” in
Proc. of IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich, ETH Zurich Science City, Switzerland, 2011, pp. 125-129.
[36] J. H. Bae, Y. M. Kin and I. Moon, “Wearable Hand Rehabilitation Robot Capable of Hand Function Assistance in Stroke Survivors,” in Proc. of IEEE 4th
RAS/EMBS International Conference on Biomedical Robotics and
72
Biomechatronics, Roma, Italy, 2012, pp. 1482-1487.
[37] Arduino Official Website.
http://arduino.cc/en/Main/ArduinoBoardMega2560
[38] Firgelli Technology Inc. Miniature Linear Motion Series.
http://www.firgelli.com/Uploads/L12_datasheet.pdf
[39] Firgelli Technology Inc. Firgelli Linear Actuator Control Board.
http://www.firgelli.com/Uploads/LAC_Datasheet.pdf
[40] Tekscan Inc.
http://www.tekscan.com/pdf/A201-force-sensor.pdf
[41] John J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Pearson Education, 2005.