편측마비 환자를 위한 생체 모사형 재활 보조 로봇 설계 = Design of a Biomimetic Assistive Robot for Hemiparetic Patients

다국어 초록 (Multilingual Abstract)

Background: This study aims to design and fabricate a biomimetic robotic gripper to support daily rehabilitation activities with hemiparesis. Hemiparesis following stroke results in impaired upper-limb motor control and diminished fine manipulation ability, making independent living difficult and continuous home-based rehabilitation essential. Methods: To reflect real rehabilitation conditions, the Jebsen–Taylor Hand Function Test (JTHFT) and the Assessment of Motor and Process Skills (AMPS) were employed to evaluate hand function and daily task performance, and used to derive design requirements for the robotic system. Designed gripper was developed based on the sensory–motor integration mechanism of the human tactile system, replicating the functions through the integration of an optical tactile sensing structure (LED–mirror–camera) and MEMS accelerometer sensors. Results: A servo motor–based closed-loop control system was adopted to enable real-time force adjustment, and the gripper was mounted on a UR5e collaborative robot platform. The contact surface was fabricated using silicone within a Shore A 26–40 hardness range to balance sensitivity and durability, and mold-based casting techniques were applied to complete the physical prototype. Gripper demonstrated the ability to grasp and manipulate objects of various shapes and materials, achieving stable grip control and vibration detection through tactile feedback. Conclusion: This study presents an engineering approach to reproducing human sensory mechanisms and establishes a user-centered design foundation for assistive robotic devices, offering a viable model for applications in rehabilitation engineering and home-based assistive technology.