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

TL;DR

This paper presents a five-bar mechanism prototype designed for finger rehabilitation, demonstrating effective control of finger movement trajectories to aid recovery, with optimized design and experimental validation.

Contribution

It introduces a novel five-bar mechanism for finger rehabilitation, including its fabrication, optimization, and control system implementation, advancing assistive device technology.

Findings

Prototype successfully executes natural finger flexion-extension movements.

Position control with fifth-order polynomials effectively guides the mechanism.

Experimental results confirm the mechanism's potential for aiding finger recovery.

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.