Abstract
This paper describes the development of a hand rehabilitation system for stroke patients. Our objective is to provide fine motion assistance in exercises for a hand and fingers. Thus, a hand rehabilitation device that assists patient's finger movements was developed. Because this device has 18 degrees of freedom, it is difficult for disabled patients to use it by themselves. Therefore, an appropriate control strategy and a control system are required to allow it to be used safely and effectively. In light of this requirement, a control system was developed that comprises four separate controllers. This paper presents the structure of the control system and introduces the control protocols used in the hand rehabilitation system.
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