Abstract
Finger impairment following stroke results in significant
deficits in hand manipulation and the performance of everyday tasks.
While recent advances in rehabilitation robotics have shown promise for
facilitating functional improvement, it remains unclear how best to
employ these devices to maximize benefits. Current devices for the hand,
however, lack the capacity to fully explore the space of possible
training paradigms. Particularly, they cannot provide the independent
joint control and levels of velocity and torque required. To fill this
need, we have developed a prototype for one digit, the cable actuated
finger exoskeleton (CAFE), a three-degree-of-freedom robotic exoskeleton
for the index finger. This paper presents the design and development of
the CAFE, with performance testing results.
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