DESIGN & IMPLEMENTATION OF DRIVING SYSTEMS IN EXOHAND: EXOSKELETON ROBOTIC HAND FOR REHABILITATION POST STROKE SUFFERS

• Main Author: Ramadhan Alchandra Yasr, Thariq
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/50189
• Institution: Institut Teknologi Bandung

Stroke occurs when the flow of blood supply to the brain is interrupted. This situation can cause stroke survivors to die or become paralyzed. In order for a stroke patient who is paralyzed to move again, there are two things that must work properly, namely the limb and the neuron. Based on this concept, therapy for stroke sufferers who experience paralysis is divided into two forms of limb therapy and neuron therapy. Limb therapy aims to restore muscle strength and coordination which can take the form of simple physical activity. Meanwhile, neuron therapy uses a special method called mirror neuron. This therapy gives the illusion of a paralyzed hand moving thus stimulating the neurons in the brain to look for new ways to convey information to the limbs. At present neuron therapy is only visual feedback. Based on these two types of therapy, stroke sufferers require therapy that trains neurons and limbs simultaneously. The exoskeleton Robotic Hand combines visual feedback with finger movements for a higher therapeutic success rate. The importance of increasing the success of therapy is due to the plasticity of the brain of the postcastroke sufferer being very active in just three months. After three months, the patient will experience a plateu effect where the chance of recovery decreases. Starting from this, a therapy tool called ExoHand was designed which combines two visual and motor therapy methods. With the concept of mirror neurons in stroke patients with left hand paralysis. In order for the tool to work properly, a drive system is needed that can move the affected hand following the unaffected hand. The drive system from ExoHand consists of various components. These components consist of a finger bending sensor, 3D(3 Dimensions) model, rope, rope line, motor pulley, motor holder, DC(Direct Current) motor and motor driver. The design and implementation of the drive system results in the affected hand being able to open and grip properly.