Grasp Force Assistance via Throttle-Based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury

IF 3.4 Q2 ENGINEERING, BIOMEDICAL

IEEE transactions on medical robotics and bionics Pub Date : 2024-11-21 DOI:10.1109/TMRB.2024.3503992

Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie

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引用次数: 0

Abstract

Individuals with hand paralysis resulting from a C6-C7 spinal cord injury (SCI) frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel control method, Throttle-based Wrist Angle (TWA), that allows users to maintain grasps without requiring continued wrist extension. A pilot case study with a person with C6 SCI shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive assistive devices for individuals with hand impairments after SCI.

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因 C6-C7 脊髓损伤（SCI）而导致手部瘫痪的患者经常依靠腱鞘炎来抓握物体。然而，腱鞘炎产生的抓取力有限，需要持续用力才能维持抓取，从而导致疲劳，有时甚至疼痛。我们介绍的 MyHand-SCI 是一种可穿戴机器人，通过电动外腱提供抓握辅助。我们的设备由用户驱动，通过一种新颖的控制方法--基于节流阀的手腕角度（TWA）--实现独立的同侧操作，让用户无需持续伸展手腕即可保持抓握。一项针对 C6 SCI 患者的试验性案例研究显示，他们在使用我们的设备时，功能性抓握和抓握力都有所改善，而且调节抓握力的能力也得到了保留，从而提高了他们操作日常物品的能力。这项研究为开发有效、直观的辅助设备迈出了坚实的一步，该设备适用于患有 SCI 的手部损伤患者。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE transactions on medical robotics and bionics

CiteScore

6.80

自引率

0.00%

发文量