Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie
{"title":"基于节流手腕角度控制的C6-C7脊髓损伤机械手矫形器抓取力辅助","authors":"Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie","doi":"10.1109/TMRB.2024.3503992","DOIUrl":null,"url":null,"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.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"7 1","pages":"149-155"},"PeriodicalIF":3.4000,"publicationDate":"2024-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Grasp Force Assistance via Throttle-Based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury\",\"authors\":\"Joaquin Palacios;Alexandra Deli-Ivanov;Ava Chen;Lauren Winterbottom;Dawn M. Nilsen;Joel Stein;Matei Ciocarlie\",\"doi\":\"10.1109/TMRB.2024.3503992\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":73318,\"journal\":{\"name\":\"IEEE transactions on medical robotics and bionics\",\"volume\":\"7 1\",\"pages\":\"149-155\"},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-11-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE transactions on medical robotics and bionics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10759850/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, BIOMEDICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10759850/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
Grasp Force Assistance via Throttle-Based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
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.