Development of pneumatic finger-wrist rehabilitation device for preventing contructure

When a joint of human body doesn’t move for a long time, an ability of the muscles around joints will be lost and joint contracture occurs. This rehabilitation device has two sticks that rotate and translate by double lack and pinion mechanism, which is driven with pneumatic cylinders. The sticks can stretch finger’s joints and wrist, but, the shape of finger and hand can not be recognized. In this study, we detect the position of finger’s joints and wrist joint by USB camera and OpenCV graphic library and design effective rehabilitation by the position. Methods of detection are detecting marker of joints and corner of approched hand’s outer shape.