Numerical Simulation-Based Design of a Pneumatic Finger Rehabilitation Robot for Tele-Rehabilitation.
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| Title: | Numerical Simulation-Based Design of a Pneumatic Finger Rehabilitation Robot for Tele-Rehabilitation. |
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| Authors: | Li, Dongze1 p123122@siswa.ukm.edu.my, Gan, Kok Beng1 kbgan@ukm.edu.my, Sim, Kok Swee2 kssim@mmu.edu.my |
| Source: | International Journal of Online & Biomedical Engineering. 2026, Vol. 22 Issue 4, p123-139. 17p. |
| Subjects: | Pneumatic actuators, Telerehabilitation, Computer simulation, Network performance, Motion control devices, Robotic exoskeletons, PID controllers |
| Abstract: | Hand motor function rehabilitation after stroke or traumatic injury requires repetitive, task-specific training, which is often limited by therapist availability and clinical resources. This study presents a lightweight, modular, and wearable pneumatic robotic arm for finger rehabilitation, designed to support tele-rehabilitation applications. The system employs a four-link mechanical structure that accommodates variations in finger length and enables natural flexion and extension without the need for individual customization. Motion control is achieved using a discrete-time proportional-integral-derivative (PID) controller with aerodynamic drag compensation, ensuring stable and accurate actuation under compressible air dynamics. A stage-specific pressure strategy is implemented, applying 0.1 MPa for early mobilization and 0.3 MPa for intensive training, enabling up to 80° of finger bending within 2.5 s. Network-induced latency and sensor delay are explicitly modeled in the control loop, and their effects on response time and tracking accuracy are evaluated through numerical simulations. Simulation results demonstrate a motion tracking error below 2°, with control errors remaining bounded under network latencies up to 50 ms, confirming real-time responsiveness suitable for remote rehabilitation scenarios. These findings support the feasibility of a scalable, cost-effective, and clinically viable pneumatic rehabilitation platform for individualized hand therapy and tele-rehabilitation deployment. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Online & Biomedical Engineering is the property of International Journal of Online Engineering and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 192869163 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Numerical Simulation-Based Design of a Pneumatic Finger Rehabilitation Robot for Tele-Rehabilitation. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Li%2C+Dongze%22">Li, Dongze</searchLink><relatesTo>1</relatesTo><i> p123122@siswa.ukm.edu.my</i><br /><searchLink fieldCode="AR" term="%22Gan%2C+Kok+Beng%22">Gan, Kok Beng</searchLink><relatesTo>1</relatesTo><i> kbgan@ukm.edu.my</i><br /><searchLink fieldCode="AR" term="%22Sim%2C+Kok+Swee%22">Sim, Kok Swee</searchLink><relatesTo>2</relatesTo><i> kssim@mmu.edu.my</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Online+%26+Biomedical+Engineering%22">International Journal of Online & Biomedical Engineering</searchLink>. 2026, Vol. 22 Issue 4, p123-139. 17p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Pneumatic+actuators%22">Pneumatic actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Telerehabilitation%22">Telerehabilitation</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+simulation%22">Computer simulation</searchLink><br /><searchLink fieldCode="DE" term="%22Network+performance%22">Network performance</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+control+devices%22">Motion control devices</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+exoskeletons%22">Robotic exoskeletons</searchLink><br /><searchLink fieldCode="DE" term="%22PID+controllers%22">PID controllers</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Hand motor function rehabilitation after stroke or traumatic injury requires repetitive, task-specific training, which is often limited by therapist availability and clinical resources. This study presents a lightweight, modular, and wearable pneumatic robotic arm for finger rehabilitation, designed to support tele-rehabilitation applications. The system employs a four-link mechanical structure that accommodates variations in finger length and enables natural flexion and extension without the need for individual customization. Motion control is achieved using a discrete-time proportional-integral-derivative (PID) controller with aerodynamic drag compensation, ensuring stable and accurate actuation under compressible air dynamics. A stage-specific pressure strategy is implemented, applying 0.1 MPa for early mobilization and 0.3 MPa for intensive training, enabling up to 80° of finger bending within 2.5 s. Network-induced latency and sensor delay are explicitly modeled in the control loop, and their effects on response time and tracking accuracy are evaluated through numerical simulations. Simulation results demonstrate a motion tracking error below 2°, with control errors remaining bounded under network latencies up to 50 ms, confirming real-time responsiveness suitable for remote rehabilitation scenarios. These findings support the feasibility of a scalable, cost-effective, and clinically viable pneumatic rehabilitation platform for individualized hand therapy and tele-rehabilitation deployment. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Online & Biomedical Engineering is the property of International Journal of Online Engineering and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.3991/ijoe.v22i04.59455 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 17 StartPage: 123 Subjects: – SubjectFull: Pneumatic actuators Type: general – SubjectFull: Telerehabilitation Type: general – SubjectFull: Computer simulation Type: general – SubjectFull: Network performance Type: general – SubjectFull: Motion control devices Type: general – SubjectFull: Robotic exoskeletons Type: general – SubjectFull: PID controllers Type: general Titles: – TitleFull: Numerical Simulation-Based Design of a Pneumatic Finger Rehabilitation Robot for Tele-Rehabilitation. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Li, Dongze – PersonEntity: Name: NameFull: Gan, Kok Beng – PersonEntity: Name: NameFull: Sim, Kok Swee IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 03 Text: 2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 26268493 Numbering: – Type: volume Value: 22 – Type: issue Value: 4 Titles: – TitleFull: International Journal of Online & Biomedical Engineering Type: main |
| ResultId | 1 |
