Motor-Augmented Wrist-Driven Orthosis: Flexible Grasp Assistance for People with Spinal Cord Injury

McPherson, Andrew; Patel, Vatsal; Downey, Phillip R.; Alvi, Ahmed Abbas; Abbott, Michael E.; Stuart, Hannah

doi:10.1109/embc44109.2020.9176037

Cited by 11 publications

(11 citation statements)

References 18 publications

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“…To understand the impact of tenodesis grasping on upper body kinematics, we first design a device that mimics the technique by restricting some dexterity in subjects with normative hand function. The TGE is derived from the Motorized Wrist-Driven Orthosis (MWDO), that harnesses both body-powered and motorized actuation in parallel to create flexible device behaviors presented in detail in the work by McPherson, et al (2020) [6]. While wearing the TGE, the fingers are constrained to flex and extend together to grasp objects against an artificial thumb while the wrist's radial and ulnar deviation is restricted.…”

Section: Tenodesis Grasping Emulatormentioning

confidence: 99%

“…Body-powered devices like the WDO offer the wearer a kinesthetic understanding of grasping [8], a property commonly presumed to improve device embodiment. However, wheelchair users with varied levels of trunk and arm mobility [6]). (c) Underside of TGE, where the thumb can be seen strapped to the palm.…”

Section: Introductionmentioning

confidence: 99%

“…In order to study compensatory behaviors in response to TGE, we vary types and orientations of objects as well as location to produce a range of reach-to-grasp movements in 6 subjects, described in Section III. TGE settings are varied for comparisons between non-tenodesis grasping, WDO emulation, and a hybrid-motorized intervention [6]. As presented in Section IV, tenodesis grasping usually leads to more body movement than normative grasping.…”

Section: Introductionmentioning

confidence: 99%

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Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Chang¹,

Raghid²,

McPherson³

et al. 2021

Preprint

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Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired hand function. Subjects perform a series of grasp-and-release tasks in order to compare normal (test control) and constrained wrist-driven modes, showing significant compensation as a result of the constraint. A motor-augmented mode is also compared against traditional wrist-driven operation, to explore the potential role of hybrid human-robot control. We find that both the passive wrist-driven and motor-augmented modes fulfill different roles throughout various tasks tested. Thus, we conclude that a flexible control scheme that can alter intervention based on the task at hand holds the potential to reduce compensation in future work.

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Section: Tenodesis Grasping Emulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Chang¹,

Raghid²,

McPherson³

et al. 2021

Preprint

Self Cite

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“…Humans use their hands to interact with the environment in activities of daily living (ADLs) (Zheng et al, 2013). A healthy human hand is typically capable of tasks with various grasp types, such as non-prehensile pushing, prehensile power grasping, and precision prismatic pinching (Dollar, 2014;McPherson et al, 2020). Hand function impairment could happen in patients due to traumas and injuries, such as spinal cord injury (SCI), stroke attacks, degenerative disease, muscle weakness due to aging, and accidents (Grefkes and Fink, 2020;Song et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

“…Some modifications to the passive D-WDO structure were made to give new functions to the passive D-WDO, such as adding an actuator component and motion control system. Several types of active actuators could be used for active D-WDO, electromechanical actuators such as motors with bar or cable transmission and linear actuators (Ochoa et al, 2011;Gopura et al, 2016;McPherson et al, 2020). These actuators typically consist of an electric DC motor, a gearbox, and a mechanism for converting rotary to linear motion.…”

Section: Introductionmentioning

confidence: 99%

Dual-mode 3D printed dynamic wrist driven orthosis for hand therapy exercises

Risangtuni,

Suprijanto,

Nazaruddin

et al. 2023

Front. Mech. Eng.

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The primary objective of the Dual-mode Dynamic Wrist Driven Orthosis (D-WDO) is to facilitate wrist-hand therapy exercises for patients with varying levels of residual muscle function. This dual-mode D-WDO system comprises two main components: the orthosis structure and the soft pneumatic actuator (SPA). All system components were designed and produced using Computer Aided Design (CAD) software and the Fused Deposition Modeling (FDM) 3D printing technique. The D-WDO’s structure is constructed from PLA (Polylactic Acid), while the SPA is made from TPU (Thermoplastic Polyurethane) filament. The D-WDO can be operated in passive or active mode by attaching or detaching the SPA from the structure. This D-WDO system is particularly suitable for patients with a minimum MMT level between 2 and 3, as it provides assistance for wrist movement and supports repetitive wrist motion to enhance wrist muscle function. However, it is important to note that the operation and performance of the dual-mode D-WDO system may vary depending on the chosen system configuration. The active D-WDO’s performance demonstrates its ability to achieve the necessary wrist flexion angle for a functional wrist joint, especially in the context of daily activities.

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