Control and kinematic performance analysis of an Actuated Finger Exoskeleton for hand rehabilitation following stroke

Jones, C. L.; Wang, Furui; Osswald, Christian R.; Kang, Xuan; Sarkar, Nilanjan; Kamper, Derek G.

doi:10.1109/biorob.2010.5626057

Cited by 21 publications

(15 citation statements)

References 16 publications

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“…Linkage-based devices use mechanical links to form the finger components, and can be further categorized with independent joint control, MCP rotation only, full coupling, partial coupling, mitten style, fingertip connection, compliance and contact based underactuation. Devices with independent control have an individual actuator for each assisted finger joint (Figure 7(c)) [27]- [30], [37], [40], [41], [69], [73]. These actuators are mostly placed remotely and (a) Glove [50] (b) Glove with links [59] (c) Indep.…”

Section: Kinematics Selectionmentioning

confidence: 99%

“…Alternatively, an exoskeleton can align mechanical and finger joints through adjusted mechanical connections and links [15], [22], [27]- [30], [32], [33], [37], [40], [45], [52], [57], [60], [62], [63], [67], [73], [77], [84], [87]. The user wears the device before operation and a technician fixes a sliderscrew system for fitting.…”

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

“…Lateral devices consist of mechanical or transmission components placed on both sides of finger phalanges (see Figure 8(b)) [27], [28], [35], [42], [69], [71], [77], [78], [82]. Finger joints can be rotated independently through cable transmission or remote center of motion (RCM).…”

Section: Mechanism Placementmentioning

confidence: 99%

“…One way to achieve active control is to adopt implicit backdriveability, which requires actuation, transmission and mechanical units to be chosen accordingly. With implicit backdriveability, the user can move their fingers freely even if the exoskeleton is attached to their fingers with no control [22], [24], [27]- [29], [37], [40], [46], [50], [52], [65], [81], [86]. The backdriveable devices can be controlled with passive strategies when the user fails to keep their performance within a predefined range.…”

Section: Controlmentioning

confidence: 99%

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Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

112

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Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment process. The recent technology can lead to the creation of generic hand exoskeletons that are application-agnostic. In this paper, our motivation is to create guidelines and best practices for generic exoskeletons by reviewing the literature of current devices. First, we describe each application and briefly explain their design requirements, and then list the design selections to achieve these requirements. Then, we detail each selection by investigating the existing exoskeletons based on their design choices, and by highlighting their impact on application types. With the motivation of creating efficient generic exoskeletons in the future, we finally summarize the best practices in the literature.Index Terms-hand exoskeletons, rehabilitation hand exoskeletons, assistive hand exoskeletons, haptic hand exoskeletons

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Section: Kinematics Selectionmentioning

confidence: 99%

Section: Strategies For Adjusting To Different Hand Sizesmentioning

confidence: 99%

Section: Mechanism Placementmentioning

confidence: 99%

Section: Controlmentioning

confidence: 99%

See 2 more Smart Citations

Design Requirements of Generic Hand Exoskeletons and Survey of Hand Exoskeletons for Rehabilitation, Assistive, or Haptic Use

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

112

View full text Add to dashboard Cite

show abstract

“…These include both commercial products, such as CyberGrasp (Immersion Corporation, San Jose, CA) [22], the Hand Mentor (Kinetic Muscles Inc., Tempe, AZ) [23], and the Amadeo Hand System (Tyromotion GmbH, Graz, Austria) [24]. Experimental devices include Rutgers Master II-ND [25], HWARD [26] and HandCARE [27] among others [28][29][30][31].…”

mentioning

confidence: 99%