Optoelectronic-Based Pose Sensing for a Hand Rehabilitation Exoskeleton Continuous Structure

Hand exoskeleton pose monitoring is of great importance in the rehabilitation training stroke patients to ensure precise robotic trajectory control and provide a patient recovery assessment mechanism. In this paper, low-cost sensor unit based on principle photoelectric reflection proposed measure multi-segment continuous structure hand exoskeleton. The consists five photosensitive elements that rotation angle an arrangement adjacent segments, each integrated with sensing element, estimate actuator’s motion. An accurate device user-friendly interface then designed for calibration elements. experimental results indicate sensitivity exceeds 0.047 V/° elements, hysteresis repeatability errors are less than 1.1% 1.8%, respectively. A comparison between output benchmarked by VICON motion capture system demonstrates can bending mean error 3.23 degrees.