MITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI:10.1109/ICORR58425.2023.10304721

Davide Astarita, Jun Pan, Lorenzo Amato, Paolo Ferrara, Andrea Baldoni, Filippo Dell'Agnello, Simona Crea, Nicola Vitiello, Emilio Trigili

{"title":"MITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation.","authors":"Davide Astarita, Jun Pan, Lorenzo Amato, Paolo Ferrara, Andrea Baldoni, Filippo Dell'Agnello, Simona Crea, Nicola Vitiello, Emilio Trigili","doi":"10.1109/ICORR58425.2023.10304721","DOIUrl":null,"url":null,"abstract":"<p><p>This work describes the design and preliminary characterization of a novel portable hand exoskeleton for poststroke rehabilitation. The platform actively mobilizes the index-metacarpophalangeal (I-MCP) joint, and it additionally offers individual rigid support to distal degrees of freedom (DoFs) of the index and thumb. The test-bench characterization proves the capability of the device to render torques at the I-MCP level with high fidelity within frequencies of interest for the application (up to 3 Hz). The introduction of a feed-forward friction compensation at the actuator level lowers the output mechanical stiffness by 32%, contributing to a highly transparent behavior; moreover, the functionality of the platform in rendering different interaction strategies (patient/robot-in-charge) is tested with three healthy subjects, showing the potential of the device to provide assistance as needed.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR58425.2023.10304721","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

Abstract

This work describes the design and preliminary characterization of a novel portable hand exoskeleton for poststroke rehabilitation. The platform actively mobilizes the index-metacarpophalangeal (I-MCP) joint, and it additionally offers individual rigid support to distal degrees of freedom (DoFs) of the index and thumb. The test-bench characterization proves the capability of the device to render torques at the I-MCP level with high fidelity within frequencies of interest for the application (up to 3 Hz). The introduction of a feed-forward friction compensation at the actuator level lowers the output mechanical stiffness by 32%, contributing to a highly transparent behavior; moreover, the functionality of the platform in rendering different interaction strategies (patient/robot-in-charge) is tested with three healthy subjects, showing the potential of the device to provide assistance as needed.

查看原文本刊更多论文

MITEx:一种用于神经康复评估和治疗的便携式手外骨骼。

这项工作描述了一种用于中风后康复的新型便携式手外骨骼的设计和初步表征。该平台主动移动食指掌指关节，并为食指和拇指的远端自由度提供单独的刚性支撑。测试台的特性证明了该设备在I-MCP水平上以高保真度呈现应用所需频率（高达3Hz）内的扭矩的能力。在致动器级别引入前馈摩擦补偿将输出机械刚度降低32%，有助于实现高度透明的行为；此外，在三名健康受试者身上测试了该平台在呈现不同交互策略（患者/机器人负责）方面的功能，显示了该设备根据需要提供帮助的潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]

CiteScore

0.50

自引率

0.00%

发文量