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

 I like this but you have motivation wrong. Write up 100% recovery protocols on this and survivors will do the millions of reps needed, no external motivation required.  8 years and I bet your hospital doesn't even know about this.  Pictures and calculations at the link.

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

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

Journal of NeuroEngineering and Rehabilitation volume 11, Article number: 10 (2014) Cite this article

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Abstract

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^®a. 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^® 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.