Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation

  • F. Aguilar-Pereyra
  • E. Castillo-CastanedaEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 37)


This work presents a novel application of a four-bar mechanism to assist therapies during hand fingers rehabilitation. The system is a mechatronic device able to perform fingers flexoextension exercises and can be adapted to different hand sizes. Fingers flexoextension analysis is based on a kinematic finger model from index to little to determine the motion trajectory. A four-bar mechanism is proposed to develop this path and guide the fingertip in rehabilitation therapies. The kinematic analysis of the proposed mechanism is presented and simulated using MATLAB. Finally, a prototype for one finger was designed and built to validate the trajectories.


Hand rehabilitation Fingers kinematics Four-bar mechanism 



This work is financially supported by IPN. The authors also like to acknowledge the help of CRIQ therapists for their advice and discussion about rehabilitation protocols.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.CICATAInstituto Politecnico NacionalQueretaroMexico

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