A Mechatronic System for Robot-Mediated Hand Telerehabilitation

Cortese, Mario; Cempini, Marco; Ribeiro, Paulo Rogério de Almeida; Soekadar, Surjo R.; Carrozza, Maria Chiara; Vitiello, Nicola

doi:10.1109/tmech.2014.2353298

Cited by 63 publications

(42 citation statements)

References 38 publications

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“…Coupled devices interact with user's finger from multiple points and move finger joints together with a ratio adjusted by mechanical links or differential system (Figure 7(e)). Such mechanisms can control finger movements with 1 actuator [15], [26], [31]- [33], [35], [45]- [48], [58], [68], [82], [84] or 2 actuators [34], [39], [42], [44], [49], [67], [70], [87]. Compliant devices couple finger joints through compliant elements [81], artificial muscles [65] or soft actuators [23], [54], [55] instead of rigid links.…”

Section: Kinematics Selectionmentioning

confidence: 99%

“…Even though misalignments are not prevented, they are ensured not to harm users. Finally, a designer can place passive joints along the mechanical structure to turn additional loads, which are caused by misalignments, into motion [26], [31], [34], [35], [39], [42], [46], [49], [56], [61], [68], [70], [74], [79], [89]. Such an exoskeleton adapts its behavior for different hand sizes automatically.…”

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%

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

101

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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%

See 1 more Smart Citation

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

Saraç

Solazzi

Frisoli

2019

IEEE Trans. Haptics

101

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show abstract

“…Other reports on these concepts are related to more general bilateral master-slave tele-rehabilitation robotic systems, as the one proposed by Chiri et al [21,22] that consisted of a glove acting as the master for the therapist and a powered hand exoskeleton acting as the slave rehabilitation device for the patient. A similar approach has been reported in Farulla et al [23], but using a vision-based pose estimation, which makes the system more intuitive for untrained personnel.…”

Section: Introductionmentioning

confidence: 99%

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

Oscari

Oboe

Albasini

et al. 2016

Sensors

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The use of haptic devices in the rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.

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“…Present-day life reality, instead, consists of a world that is slowly getting populated by highly intelligent technological systems. Service robotics has been widely applied in assistive technologies [2], [3], rehabilitation [4], [5], [6], assistive mobility [7], remote communication systems for disabled people [8] and telepresence [9], [10], [11].…”

Section: Introductionmentioning

confidence: 99%

A cloud robotics system for telepresence enabling mobility impaired people to enjoy the whole museum experience

Primatesta

Giuliano

et al. 2015

2015 10th International Conference on Design &Amp; Technology of Integrated Systems in Nanoscale Era (DTIS)

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We present a novel robotic telepresence platform composed by a semi-autonomous mobile robot based on a cloud robotics framework, which has been developed with the aim of enabling mobility impaired people to enjoy museums and archaeological sites that would be otherwise inaccessible. Such places, in fact, very often are not equipped to provide access for mobility impaired people, in particular because these aids require dedicated infrastructures that may not fit within the environment and large investments. For this reason, people affected by mobility impairments are often unable to enjoy a part or even the entire museum experience. Solutions allowing mobility impaired people to enjoy museum experience are often based on recorded tours, thus they do not allow active participation of the user. On the contrary, the presented platform is intended to allow users to enjoy completely the museum round. A robot equipped with a camera is placed within the museum and users can control it in order to follow predefined tours or freely explore the museum. Our solution ensures that users see exactly what the robot is seing in real-time. The cloud robotics platform controls both navigation capabilities and teleoperation. Navigation tasks are intended to let the robot reliably follow pre-defined tours, while main concern of teleoperation tasks is to ensure robot safety (e.g., by means of dynamic obstacle detection and avoidance software). Proposed platform has been optimized to maximize user experience.

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A Mechatronic System for Robot-Mediated Hand Telerehabilitation

Cited by 63 publications

References 38 publications

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

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

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

A cloud robotics system for telepresence enabling mobility impaired people to enjoy the whole museum experience

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