Davide Astarita, Jun Pan, Lorenzo Amato, Paolo Ferrara, Andrea Baldoni, Filippo Dell'Agnello, Simona Crea, Nicola Vitiello, Emilio Trigili
{"title":"MITEx:一种用于神经康复评估和治疗的便携式手外骨骼。","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":"{\"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}","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}
MITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation.
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.
![IEEE ... International Conference on Rehabilitation Robotics : [proceedings]](/Content/css/sci/img/zetp.jpg)
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
