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Journal of Robotics
Volume 2011 (2011), Article ID 167516, 10 pages
Research Article

Finger Rehabilitation Support System Using a Multifingered Haptic Interface Controlled by a Surface Electromyogram

1Faculty of Engineering, Gifu University, Yanagido 1-1, Gifu 501-1193, Japan
2Gifu Red Cross Hospital, 3-36 Iwakuracho, Gifu 502-8511, Japan
3Gifu University School of Medicine, Yanagido 1-1, Gifu 501-1194, Japan

Received 31 May 2011; Accepted 18 October 2011

Academic Editor: Doyoung Jeon

Copyright © 2011 Masaaki Hioki et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a new type of finger rehabilitation system using a multifingered haptic interface that is controlled by the patient though a surface electromyogram. We have developed the multifingered haptic interface robot: HIRO III that can give 3-directional forces to 5 fingertips. This robot can also be used as a rehabilitation device that can provide various fingertip exercises and measure various types of information. The sEMG works together with the HIRO III to consider the patient's intent. The proposed system is intended for patients having paralysis in the hand and fingers, and the motions will be provided as biofeedback to the fingertips with the device. In contrast to completely passive rehabilitation, the proposed system can provide active rehabilitation using sEMG. The experiment involved finger opening and closing with this system by ten able-bodied subjects. The results show that almost all subjects felt appropriate motion support from the device.