An interactive soft robotic hand-task training system with wireless task boards and daily objects on post-stroke rehabilitation

Ask your competent? doctor to evaluate and get this for you. See if spastic fingers could use this.  Pictures at link, might be able to get spastic fingers in it.

 An interactive soft robotic hand-task training system with wireless task boards and daily objects on post-stroke rehabilitation

Xiangqian Shi 1 , Chengyu Yang 1 , Pak Chung Lee 2 , Disheng Xie 1 , Zhongping Ye 1 , Zheng Li 3 and
Raymond Kai-yu Tong1
1 Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
2 Hopebotic Limited, Hong Kong SAR, China
3 Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
Corresponding author: Raymond Kai-yu Tong; Email:kytong@cuhk.edu.hk
Received: 19 March 2024; Accepted: 02 June 2024
Keywords: stroke rehabilitation; soft robotics; robot-assisted therapy; task-oriented training; daily task assistance

Abstract

We have developed an interactive system comprising a soft wearable robot hand and a wireless task board, facilitating the interaction between the hand and regular daily objects for task-oriented training in stroke rehabilitation. A ring-reinforced soft actuator (RSA) to accommodate different hand sizes and enable flexion and extension movements was introduced in this paper. Individually controlled finger actuators assist stroke patients during various grasping tasks. A wireless task board was developed to support the training, allowing for the placement of training objects and seamless interaction with the soft robotic hand. Evaluation with seven stroke subjects shows significant improvements in upper
limb functions (FMA), hand-motor abilities (ARAT, BBT), and maximum grip strengths after 20 sessions of this task-oriented training. These improvements were observed to persist for at least 3 months post-training. The results demonstrate its potential to enhance stroke rehabilitation and promote hand-motor recovery. This lightweight, user-friendly interactive system facilitates frequent hand practice and easily integrates into regular rehabilitation therapy routines.
I. Introduction
A prevalent symptom among stroke survivors is motor deficits (Basteris et al., 2014). This motor impairment significantly impedes stroke patients’ ability to perform activities of daily living (ADL) (Timmermans et al.,2010), subsequently impacting their quality of life (QOL). Notably, approximately 80 percent of stroke survivors encounter post-stroke deficits in upper extremity (UE) motor performance, with approximately half of them facing challenges in performing ADLs (Kwakkel et al., 2003; Duncan et al., 2003). Several stroke survivors who underwent a UE rehabilitation program demonstrated significant recovery of proximal motor functions at the shoulder and elbow joints. However, their progress in regaining hand and wrist joint functionality remained limited (Jonkman et al., 1998). Hand functions, especially for finger extension, are vital in numerous daily tasks. Nevertheless, developing an effective training device for rehabilitating dexterous hand functions has posed a considerable challenge.

One potential approach to address these challenges is the development of rehabilitation robotic devices

(Maciejasz et al., 2014; Song et al., 2008; Wolbrecht et al., 2018). In recent decades, hand rehabilitation

devices have been introduced to aid stroke survivors in recovering hand functionality (Susanto et al.,

2015; Ho et al., n.d.; Hu et al., 2009). However, these devices have limitations, notably their bulky and

heavy nature resulting from using rigid components like linear motors and rigid linkages connecting the

fingers to the motors (Dellon and Matsuoka, 2007). Consequently, stroke patients often face difficulty

raising their paralyzed arms and performing functional tasks (Tong et al., 2010). Moreover, these robotic hands seldom account for the individual’s specific hand conditions, such as finger length, palm width, and joint stiffness.

Our prior research presented a 3D-printed soft robotic hand that utilized the soft-elastic composite

actuator (Heung et al., 2019; Heung et al., 2020; Shi et al., 2021; Tang et al., 2022; Shi et al., 2020).

Building upon this foundation, we have further advanced our work by developing an updated version of

the interactive soft wearable robotic hand specifically designed for task-oriented hand-functional training. The new version of the pneumatic actuator in this version offers enhanced actuation torque, while a novel wireless interactive task training board has been designed and seamlessly integrated with the robotic hand. This innovative solution demonstrates our commitment to addressing the unique requirements of stroke rehabilitation, offering a more personalized and interactive approach to therapy.

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