A could have really used something like this to try to bring back wrist and hand. But I bet you will need to wait another 30-50 years before this makes it to clinical practice.
http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6696171&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6696171
Zhou, Longjiang
; Institute for Infocomm Research, 1 Fusionopolis Way, 138632, Singapore
;
Ang, Kai Keng
;
Wang, Chuanchu
;
Phua, Kok Soon
more authors
The Haptic Knob (HK) is a robotic device that enables subjects to open
or close their hands, or rotate their forearms for stroke
rehabilitation. The present HK uses force sensors to measure the force
applied by the subject, which provides an indirect force measurement
with high development cost. In this paper, we propose a novel method to
detect the grasping force applied directly on the haptic knob by
measuring the current of the driving motor instead of the rotating
torque applied. The same method can also be used to detect the pronation
or supination torque applied by the subject by measuring the current of
the driving motor. Experiments are performed using weights to apply
known torque through a cylindrical disc calibration structure on the
haptic knob to establish the relationship between the current of driving
motor and the applied torque. The results show a near-linear
relationship between the applied torque and the current of the driving
motor which demonstrated the feasibility of inferring the applied torque
from a subject in performing pronation or supination on the haptic knob
from the current of the driving motor. This demonstrated the
feasibility of inferring both the applied grasping force of a stroke
subject as well as the applied pronation or supination torque on the
haptic knob from the current of the driving motor.
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