6 years for your doctor to get this installed in their hospital. How well did they do?
An EMG-controlled robotic hand exoskeleton for bilateral rehabilitation
Abstract:
This
paper presents a novel electromyography (EMG)-driven hand exoskeleton
for bilateral rehabilitation of grasping in stroke. The developed hand
exoskeleton was designed with two distinctive features: (a) kinematics
with intrinsic adaptability to patient's hand size, and (b) free-palm
and free-fingertip design, preserving the residual sensory perceptual
capability of touch during assistance in grasping of real objects. In
the envisaged bilateral training strategy, the patient's non paretic
hand acted as guidance for the paretic hand in grasping tasks. Grasping
force exerted by the non paretic hand was estimated in real-time from
EMG signals, and then replicated as robotic assistance for the paretic
hand by means of the hand-exoskeleton. Estimation of the grasping force
through EMG allowed to perform rehabilitation exercises with any, non
sensorized, graspable objects. This paper presents the system design,
development, and experimental evaluation. Experiments were performed
within a group of six healthy subjects and two chronic stroke patients,
executing robotic-assisted grasping tasks. Results related to
performance in estimation and modulation of the robotic assistance, and
to the outcomes of the pilot rehabilitation sessions with stroke
patients, positively support validity of the proposed approach for
application in stroke rehabilitation.
Published in: IEEE Transactions on Haptics ( Volume: 8, Issue: 2, April-June 1 2015)
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