Design Criteria for Hand Exoskeletons: Measurement of Forces Needed to Assist Finger Extension in Traumatic Brain Injury Patients

Nycz, Christopher J.; Meier, Tess Bisbee; Carvalho, Paulo A.; Meier, Gretchen R; Fischer, Gregory S.

doi:10.1109/lra.2018.2852769

Cited by 17 publications

(7 citation statements)

References 16 publications

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“…Nycz et al explored the torque required to induce finger extension in individuals with increased flexor tone due to traumatic brain injury. 18 Our results suggest that this should be explored in other populations. In our study, moving the finger of the participant with flexor tone (P07-stroke) required a very low force applied over time to prevent a velocity dependent increase in tone, whereas force requirements were higher for the participant with SCI because of muscle stiffness.…”

Section: Discussionmentioning

confidence: 84%

Defining the design requirements for an assistive powered hand exoskeleton: A pilot explorative interview study and case series

Boser

Dawson

Schofield

et al. 2020

Prosthetics &Amp; Orthotics International

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Background: Powered hand exoskeletons are an emerging technology that have shown promise in assisting individuals with impaired hand function. A number of hand exoskeleton designs have been described in the literature; however, the majority have not been supported by patient-oriented criteria. Objective: The aim of this study was to define preliminary end-user needs and expectations for an assistive hand exoskeleton. Study design: Explorative interview and case series. Methods: Six clinicians and eight individuals with impaired hand function were interviewed in small groups or individually. A standardized list of questions was used to elicit feedback on specific design criteria or promote the discovery of new criteria. In addition, three participants with impaired hand function returned for a second session where hand characteristics, such as range of motion and force required to flex/extend fingers, were recorded to further quantify design requirements. Results: Interview responses indicated that there was general consensus among participants on criteria relating to important grasp patterns, grip strength, wear time, and acceptable bulk/weight. However, interview responses and hand characteristics also revealed important differences between individuals with impaired hand function. Conclusion: Qualitative and quantitative data were collected to develop an understanding of end-user design requirements for assistive hand exoskeletons. Although the data collected were helpful in identifying some preliminary criteria, differences between participants exist and identifying a universal set of criteria applicable across individuals with impaired hand function is challenging. This work reinforces the importance of involving users of rehabilitation technology in the device development process.

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Section: Discussionmentioning

confidence: 84%

Defining the design requirements for an assistive powered hand exoskeleton: A pilot explorative interview study and case series

Boser

Dawson

Schofield

et al. 2020

Prosthetics &Amp; Orthotics International

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show abstract

“…A lower bound can be deducted from the peak force that is required to extend moderately spastic/hypertonic fingers. In literature, values ranging from approximately 15 N (Kamper et al, 2006 ) to 25 N, (15 N for the thumb) (Nycz et al, 2018 ) are reported. Thus, a minimum continuous fingertip force of F F,min = 30 N was considered as an adequate value for the development of our haptic device.…”

Section: Methodsmentioning

confidence: 99%

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

Ratz

Conti²,

Müri

et al. 2021

Front. Neurorobot.

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Neurorehabilitation research suggests that not only high training intensity, but also somatosensory information plays a fundamental role in the recovery of stroke patients. Yet, there is currently a lack of easy-to-use robotic solutions for sensorimotor hand rehabilitation. We addressed this shortcoming by developing a novel clinical-driven robotic hand rehabilitation device, which is capable of fine haptic rendering, and that supports physiological full flexion/extension of the fingers while offering an effortless setup. Our palmar design, based on a parallelogram coupled to a principal revolute joint, introduces the following novelties: (1) While allowing for an effortless installation of the user's hand, it offers large range of motion of the fingers (full extension to 180° flexion). (2) The kinematic design ensures that all fingers are supported through the full range of motion and that the little finger does not lose contact with the finger support in extension. (3) We took into consideration that a handle is usually comfortably grasped such that its longitudinal axis runs obliquely from the metacarpophalangeal joint of the index finger to the base of the hypothenar eminence. (4) The fingertip path was optimized to guarantee physiologically correct finger movements for a large variety of hand sizes. Moreover, the device possesses a high mechanical transparency, which was achieved using a backdrivable cable transmission. The transparency was further improved with the implementation of friction and gravity compensation. In a test with six healthy participants, the root mean square of the human-robot interaction force was found to remain as low as 1.37 N in a dynamic task. With its clinical-driven design and easy-to-use setup, our robotic device for hand sensorimotor rehabilitation has the potential for high clinical acceptance, applicability and effectiveness.

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“…The method used to obtain the axis distances of the closed-loop kinematic chain uses an optical motion tracking system and a least squares axis location calculation [21]. To identify all axes during a range of motion, a modification of the previous method [22] has been used. The experimental setup is shown in Figure 5.…”

Section: Axis Distance Calibration Using Motion Capture Setupmentioning

confidence: 99%

“…The da Vinci systems have slight variances in kinematics due to manufacturing tolerances, link deformations, and mechanical wear and tear over time. Therefore, we provide the methods and underlying code to calibrate the kinematics of other systems[22].…”

mentioning

confidence: 99%

An Approach to Modeling Closed-Loop Kinematic Chain Mechanisms, Applied to Simulations of the da Vinci Surgical System

Ra¹,

Agrawal²

2019

APH

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Open-sourced kinematic models of the da Vinci Surgical System have previously been developed using serial chains for forward and inverse kinematics. However, these models do not describe the motion of every link in the closed-loop mechanism of the da Vinci manipulators; knowing the kinematics of all components in motion is essential for the foundation of modeling the system dynamics and implementing representative simulations. This paper proposes a modeling method of the closed-loop kinematics, using the existing da Vinci kinematics and an optical motion capture link length calibration. Resulting link lengths and DH parameters are presented and used as the basis for ROS-based simulation models. The models were simulated in RViz visualization simulation and Gazebo dynamics simulation. Additionally, the closed-loop kinematic chain was verified by comparing the remote center of motion location of simulation with the hardware. Furthermore, the dynamic simulation resulted in satisfactory joint stability and performance. All models and simulations are provided as an open-source package.

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Design Criteria for Hand Exoskeletons: Measurement of Forces Needed to Assist Finger Extension in Traumatic Brain Injury Patients

Cited by 17 publications

References 16 publications

Defining the design requirements for an assistive powered hand exoskeleton: A pilot explorative interview study and case series

Defining the design requirements for an assistive powered hand exoskeleton: A pilot explorative interview study and case series

A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device

An Approach to Modeling Closed-Loop Kinematic Chain Mechanisms, Applied to Simulations of the da Vinci Surgical System

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