Design and Development of a Hand Exoskeleton Robot for Active and Passive Rehabilitation

Sandoval-Gonzalez, Oscar Osvaldo; Jacinto‐Villegas, Juan Manuel; Herrera-Aguilar, Ignacio; Portillo-Rodiguez, Otniel; Tripicchio, Paolo; Hernández-Rámos, Miguel Angel; Flores-Cuautle, J. J. A.; Avizzano, Carlo Alberto

doi:10.5772/62404

Cited by 86 publications

(44 citation statements)

References 21 publications

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“…Para simplificar el mecanismo y conseguir un reducido tamaño y peso, cada dedo del exoesqueleto se diseña con dos de grados de libertad correspondientes a las articulaciones MCP y PIP, a excepción del pulgar que cuenta sólo con un grado de libertad (MCP). Las dimensiones del exoesqueleto se han diseñado acorde al estudio antropomórfico del mano realizado en [17] utilizando los valores promedios de la muestra de estudio, teniendo como objetivo en un futuro el desarrollo de piezas intercambiables para diferentes tamaños de mano.…”

Section: Diseño Mecánicounclassified

Robhand, un exoesqueleto de mano para la rehabilitación neuromotora aplicando terapias activas y pasivas

Cisnal¹,

Lobo²,

Fraile³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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Section: Diseño Mecánicounclassified

Robhand, un exoesqueleto de mano para la rehabilitación neuromotora aplicando terapias activas y pasivas

Cisnal¹,

Lobo²,

Fraile³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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“…In our study we have focused on the rehabilitation of the distal part of the upper-limb, particularly the finger flexion/extension. Based on the structure and the actuation systems the exoskeletons are found mainly in two categories: a major portion of them are cable actuated [6], [7], [8], [9], [10], [11], and a minority of them are driven by rigid structures or linkages [12], [13], [14], [15]. Recently pneumatic actuators [16] are also being used to build soft exoskeletons.…”

Section: Imentioning

confidence: 99%

“…Other than the exoskeletons haptic devices such as ReHapticKnob [17] are also in use for hand rehabilitation. The exoskeletons also vary in their design complexity, as some of them go for the full phalanges [15] such as HANDEXOS [18], ExoK'ab [14] and BiomHED [9], while others such as CAFE [19], SNU Exo-Glove deal with a subset of it [7], [10]. Sometimes, a sub-set for full phalanges is also driven in couple [16] in order to reduce the complexity, such as GENTLE/G [13] and HandSOME [20].…”

Section: Imentioning

confidence: 99%

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

Chowdhury

Nishad

Meena

et al. 2019

IEEE Trans. Haptics

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This paper presents an underactuated design of a robotic hand exoskeleton, and a challenge based neurorehabilitation strategy. The exoskeleton is designed to reproduce natural human fingertip paths during extension and grasping, keeping minimal kinematic complexity. It facilitates an impedance adaptation based trigged assistance control strategy by switching between active non-assist and passive assistance modes. In the active non-assist mode, the exoskeleton motion follows the applied fingertip forces based on an impedance model. If the applied fingertip forces are inadequate, the passive assistance mode is triggered. The impedance parameters are updated at regular intervals based on the user performance, to implement a challenge based rehabilitation strategy. A six-week long hand therapy, conducted on four chronic stroke patients, resulted in significant (p-value<0.05) increase in force generation capacity and decrease (p-value<0.05) in the required assistance. Also, there was a significant (p-value<0.05) increase in the system impedance parameters which adequately challenged the patients. The change in the Action-Research-Arm-Test (ARAT) scores from baseline was also found to be significant (p-value<0.05) and beyond the minimal clinically important difference (MCID) limit. Thus the results prove that the proposed control strategy with has the potential to be a clinically effective solution for personalized rehabilitation of poststroke hand functionality.

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“…Design and Development of a Hand Exoskeleton Robot for Active and Passive Rehabilitation [7] Active/Passive EMG An EMG-driven exoskeleton hand robotic training device on chronic stroke [8] Active EMG A review of technological and clinical aspects of robot-aided rehabilitation of upper-extremity after stroke [9] Active VR Hong Kong polytechnic University designed a portable set of robotic hand exoskeleton that can be used or carried anywhere to help stroke patients in opening or closing their hands [8]. It works in an active mode and has 2 degree of freedom for each finger at the MCP and PIP.…”

Section: Current Hand Exoskeleton Technologies For Rehabilitation Andmentioning

confidence: 99%

A Wearable Exoskeleton Rehabilitation Device for Paralysis – A Comprehensive Study

Roshdy¹,

Kork²,

Said³

et al. 2019

Adv. sci. technol. eng. syst. j.

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As the technology grows scientists and engineers are trying to combine their work to compensate some body parts that is lost. Prosthetic devices grabbed the attention of most of the doctors and engineers working on solution for lost body parts. Generally prosthetic devices are either external wearable devices or internal ones. Such devices may depend on a built on microcontroller or the brain signals from the patient himself. Although it is used for lost body parts it can also be used for rehabilitation, power assistance, diagnostics, monitoring, ergonomics, etc. The currently used devices usually have the disadvantages of big size and high cost. The suggested device in this paper is targeting the design of portable rehabilitation device with light weight and low cost for paralyzed hand people. The suggested device allows the user to train the patient's hand or perform some needed exercises for his impaired hand. This helps the user to restore the normal hand movement and functionality. The device includes two modes of operation to be chosen by the user through the platform built on a microprocessor which can help controlling the exoskeleton to perform the needed exercises or tasks. Collaboration with several healthcare organizations will be considered to verify or test the effectiveness of this exoskeleton.

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Design and Development of a Hand Exoskeleton Robot for Active and Passive Rehabilitation

Cited by 86 publications

References 21 publications

Robhand, un exoesqueleto de mano para la rehabilitación neuromotora aplicando terapias activas y pasivas

Robhand, un exoesqueleto de mano para la rehabilitación neuromotora aplicando terapias activas y pasivas

Hand-Exoskeleton Assisted Progressive Neurorehabilitation Using Impedance Adaptation Based Challenge Level Adjustment Method

A Wearable Exoskeleton Rehabilitation Device for Paralysis – A Comprehensive Study

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