CONTENTS
15.1 Introduction ................................................................................................ 278

15.2 Proposed Design........................................................................................ 280

15.2.1 Four-Link Mechanism with the Wire-Driven Mechanism...... 280
15.2.2 Coupled Mechanism for the Distal Interphalangeal and
Proximal Interphalangeal Joints.................................................. 285
15.3 Actual Hand Rehabilitation Machine ..................................................... 285

15.4 Working of the Hand Rehabilitation Machine ...................................... 288

15.5 Working of the Hand Rehabilitation System ......................................... 289

15.6 Conclusions and Future Works ............................................................... 291

References ............................................................................................................. 292

15
Development of Hand Rehabilitation
System Using Wire-Driven Link
Mechanism for Paralysis Patients
Hiroshi Yamaura
Panasonic Corporation
Osaka, Japan
Kojiro Matsushita
Osaka University Medical School
Osaka, Japan
Ryu Kato and Hiroshi Yokoi
The University of Electro-Communications
Tokyo, Japan
Abstract
In this chapter, we present a hand rehabilitation system for patients suffering from paralysis or contracture. This system consists of two components: a hand rehabilitation machine, which moves human finger joints
by using motors, and a data glove, which enables control of the movement
of the finger joints attached to the rehabilitation machine. The machine
is based on the arm structure type of hand rehabilitation machine; a
motor indirectly moves a finger joint via a closed four-link mechanism.
We used a wire-driven mechanism and a coupled mechanism for the
277