Synergy-switchable finger-shaped wearable assistive robot

Abstract

In this study, we propose a finger-type wearable assistive robot (extra finger) that can be operated in coordination with the paralyzed finger for both daily life and rehabilitation of hemiplegic patients. For the coordination between the paralyzed finger and the extra finger, it is necessary not only to ”grab” the object with the extra finger alone but also to ”pinch” the object with the extra finger and the paralyzed finger like a robot gripper. Therefore, we adopted a hydraulic actuator network mechanism that can switch between synergy and joint fixation. We evaluated whether a person wearing a equipment that restricts the movement of the fingers can realize multiple types of grasping and manipulation by using the proposed extra fingers while switching between ”grab” and ”pinch”. As a result of the experiment, we were able to realize grasping with opposing movements of the mother finger and peg manipulatio and four daily life activities.