CAM Mechanism for opening and closing the hand on "reachMan" robot

Patent WO 2015057162 A1 "Therapy device for training fine motor skills"
patent: http://www.google.com/patents/WO20150...
paper: http://dx.doi.org/10.1109/IROS.2014.6...


This a rehabilitation robot with minimum degrees-of-freedom to train arm reaching and manipulation for typical ADLs, providing assistance in arm flexion/extension, forearm supination/pronation and hand opening/closing. The design, safety, control and performance evaluation of the system are presented. A handle using an innovative cam mechanism enables natural hand opening/closing movements. The interaction force between the device and the subject is measured via four force sensors located on the handle of the device. A preliminary study with healthy subjects was performed to assess the performances of the device.