Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play

I could have used something like this. When will your therapy department get this? It talks about assisting finger movement so I can't tell if this would even work for me. I would need maximum assistance, I have no individual control of finger movements.
Picture and more explanations from here:
https://www.asme.org/engineering-topics/articles/robotics/designing-a-soft-robot


http://www.jneuroengrehab.com/content/11/1/10/abstract

Hossein Taheri, Justin B Rowe, David Gardner, Vicki Chan, Kyle Gray, Curtis Bower, David J Reinkensmeyer and Eric T Wolbrecht

Author Affiliations

For all author emails, please log on.

Journal of NeuroEngineering and Rehabilitation 2014, 11:10  doi:10.1186/1743-0003-11-10
Published: 4 February 2014

Abstract (provisional)

Background

This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero(R)1. The goal was to make FINGER capable of assisting with motions where precise timing is important.

Methods

FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero(R) while connected to FINGER.

Results

Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (-3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject's success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects' effort and finger individuation while playing the game.

Conclusions

Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.