Development of a portable actuated orthotic glove to facilitate gross extension of the digits for therapeutic training after stroke

Ochoa, José M.; Narasimhan, Yicheng Jia Dev; Kamper, Derek G.

doi:10.1109/iembs.2009.5333630

Cited by 25 publications

(20 citation statements)

References 7 publications

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“…One limitation of devices with palmar structure is their inability for the user to perform palmar or pincer grasps, two functionally important motor control strategies, in real (not virtual reality) environments. Exoskeleton systems for the hand can have independent degrees of freedom (DOF) for each finger as in [12,13] or they can lump the index through the small finger together into one functional unit with 1-DOF [7,9,10,14,15].…”

Section: Introductionmentioning

confidence: 99%

A pediatric robotic thumb exoskeleton for at-home rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA)

Aubin

Sallum

Walsh

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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In this paper, we present the design of a thumb exoskeleton for pediatric at-home rehabilitation. Pediatric disorders, such as cerebral palsy (CP) and stroke, can result in thumb in palm deformity greatly limiting hand function. This not only limits children's ability to perform activities of daily living but also limits important motor skill development. Specifically, the device, dubbed IOTA (Isolated Orthosis for Thumb Actuation) is a 2-DOF thumb exoskeleton that can actuate the carpometacarpal (CMC) and metacarpalphalangeal (MCP) joints through ranges of motion required for activities of daily living. The device consists of a lightweight hand-mounted mechanism that can be custom secured and aligned to the wearer. The mechanism is actuated via flexible cables that connect to a portable control box. Embedded encoders and bend sensors monitor the two degrees of freedom of the thumb and flexion/extension of the wrist. Using this platform, a number of control modes can be implemented that will enable the device to be intuitively controlled by a patient to assist with opposition grasp, fine motor control, and ultimately facilitate motor recovery. We envision this at-home device augmenting the current in-clinic therapy and enabling tele-rehabilitation where a clinician can remotely monitor a patient's usage and performance.

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Section: Introductionmentioning

confidence: 99%

A pediatric robotic thumb exoskeleton for at-home rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA)

Aubin

Sallum

Walsh

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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show abstract

“…While this body of work has shown that intuitive control is indeed possible, it has also highlighted numerous challenges. For example, EMG signals are inherently abnormal in hemiparesis and distorted by spasticity and fatigue [8], [9]. If signal patterns drift or change between training and deployment, the control method has no way of coping without new calibration or training data.…”

mentioning

confidence: 99%

Multimodal Sensing and Interaction for a Robotic Hand Orthosis

Park

Meeker

Weber

et al. 2019

IEEE Robot. Autom. Lett.

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Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstationlike counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such controls must be effective, intuitive, and robust to the wide range of possible impairment patterns. Even when focusing on a specific condition, such as stroke, the variety of encountered upper limb impairment patterns means that a single sensing modality, such as electromyography (EMG), might not be sufficient to enable controls for a broad range of users. To address this significant gap, we introduce a multimodal sensing and interaction paradigm for an active hand orthosis. In our proof-of-concept implementation, EMG is complemented by other sensing modalities, such as finger bend and contact pressure sensors. We propose multimodal interaction methods that utilize this sensory data as input, and show they can enable tasks for stroke survivors who exhibit different impairment patterns. We believe that robotic hand orthoses developed as multimodal sensory platforms with help address some of the key challenges in physical interaction with the user.

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“…However, this device requires the subject to use shoulder and elbow movement to assist with finger extension, which decreases the ability for normal movement kinematics in reach and grasp task training. This device has been extended to a motorized device controlled with voice, electromyography or manual input [15]. However, this change makes the device no longer passive, and the increased complexity and weight may affect arm transport and limit potential home use.…”

mentioning

confidence: 99%

Hand Spring Operated Movement Enhancer (HandSOME): A Portable, Passive Hand Exoskeleton for Stroke Rehabilitation

Brokaw

Black

Holley

et al. 2011

IEEE Trans. Neural Syst. Rehabil. Eng.

170

103

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Abstract-Stroke patients often have flexor hypertonia and finger extensor weakness, which makes it difficult to open their affected hand for functional grasp. Because of this impairment, hand rehabilitation after stroke is essential for restoring functional independent lifestyles. The goal of this study is to develop a passive, lightweight, wearable device to assist with hand function during performance of activities of daily living. The device, Hand Spring Operated Movement Enhancer (HandSOME), assists with opening the patient's hand using a series of elastic cords that apply extension torques to the finger joints and compensates for the flexor hypertonia. Device design and calibration are described as well as functional and usability testing with stroke subjects with a wide range of hand impairments. In initial testing with eight stroke subjects with finger flexor hypertonia, use of the HandSOME significantly increased range of motion and functional ability . There was some decrease in grip strength with the HandSOME device at the subject's ideal setting, however this was not statistically significant and did not seem to have a significant effect on function. Overall HandSOME shows promise as a training tool to facilitate repetitive task practice for improving hand function in stroke patients. HandSOME can be used as part of a home-based therapy program, or as an orthotic for replacing lost function.

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Development of a portable actuated orthotic glove to facilitate gross extension of the digits for therapeutic training after stroke

Cited by 25 publications

References 7 publications

A pediatric robotic thumb exoskeleton for at-home rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA)

A pediatric robotic thumb exoskeleton for at-home rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA)

Multimodal Sensing and Interaction for a Robotic Hand Orthosis

Hand Spring Operated Movement Enhancer (HandSOME): A Portable, Passive Hand Exoskeleton for Stroke Rehabilitation

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