Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System

Salvietti, Gionata; Franco, Leonardo; Tschiersky, Martin; Wolterink, Gerjan; Bianchi, Mario; Bicchi, Antonio; Barontini, Federica; Catalano, Manuel G.; Grioli, Giorgio; Poggiani, Mattia; Rossi, Símone; Prattichizzo, Domenico

doi:10.3389/frobt.2021.661354

Cited by 7 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The system, similar in design and functionality, offers enhanced grasping and forearm lifting capabilities by integrating sensory, haptic, orthotic, and robotic components. The positive outcomes observed in real-world scenarios further emphasize this wearable system’s practical value and potential impact in enhancing individuals’ independence and overall quality of life who are affected by upper-limb impairments ( Salvietti et al, 2021 ).…”

Section: Introductionmentioning

confidence: 92%

“…One notable feature of this wearable system is incorporating a robotic supernumerary finger, further enhancing users’ functional abilities. Through real-world scenarios, the effectiveness of the developed wearable system has been demonstrated, underscoring its practical value and potential to significantly improve the quality of life and promote independence among individuals with upper-limb impairments ( Salvietti et al, 2021 ). Another study presents a similar wearable system that integrates assistive technologies for individuals with upper-limb impairments.…”

Section: Introductionmentioning

confidence: 98%

See 1 more Smart Citation

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

Orban,

Guo,

Yang

et al. 2023

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Introduction: A soft pneumatic muscle was developed to replicate intricate ankle motions essential for rehabilitation, with a specific focus on rotational movement along the x-axis, crucial for walking. The design incorporated precise geometrical parameters and air pressure regulation to enable controlled expansion and motion.Methods: The muscle’s response was evaluated under pressure conditions ranging from 100-145 kPa. To optimize the muscle design, finite element simulation was employed to analyze its performance in terms of motion range, force generation, and energy efficiency. An experimental platform was created to assess the muscle’s deformation, utilizing advanced techniques such as high-resolution imaging and deep-learning position estimation models for accurate measurements. The fabrication process involved silicone-based materials and 3D-printed molds, enabling precise control and customization of muscle expansion and contraction.Results: The experimental results demonstrated that, under a pressure of 145 kPa, the y-axis deformation (y-def) reached 165 mm, while the x-axis and z-axis deformations were significantly smaller at 0.056 mm and 0.0376 mm, respectively, highlighting the predominant elongation in the y-axis resulting from pressure actuation. The soft muscle model featured a single chamber constructed from silicone rubber, and the visually illustrated and detailed geometrical parameters played a critical role in its functionality, allowing systematic manipulation to meet specific application requirements.Discussion: The simulation and experimental results provided compelling evidence of the soft muscle design’s adaptability, controllability, and effectiveness, thus establishing a solid foundation for further advancements in ankle rehabilitation and soft robotics. Incorporating this soft muscle into rehabilitation protocols holds significant promise for enhancing ankle mobility and overall ambulatory function, offering new opportunities to tailor rehabilitation interventions and improve motor function restoration.

show abstract

Section: Introductionmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 98%