Finger rehabilitation system using multi-fingered haptic interface robot controlled by surface electromyogram

In this paper, a new type of finger rehabilitation system with multi-fingered haptic interface controlled by surface electromyogram (sEMG) is proposed. We have developed the multi-fingered haptic interface robot: HIRO III, which can give 3-directional forces to 5 fingertips. This robot also can be use as compact rehabilitation device that can give the various fingertip exercises to fingertips of patient. And the sEMG helps to consider the patient's intent. In this proposal system, first the fingertip motions will be extracted from sEMG of patient, afterwards the motions as a biofeedback will be provided to the patient's fingertips with the compact device. So differing from completely passive rehabilitation, the proposed system can give patient the active rehabilitation that reflects patient's intent. In this paper, the pretests with this system by ten able-bodied subjects are introduced. The purpose of this pretest is to confirm that fingertips are moved along user's intention in the case of healthy body. The result shows that almost subjects feel the appropriate motion support from the device.