Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866910328628969472 |
|---|---|
| author | Palacios, Joaquin Deli-Ivanov, Alexandra Chen, Ava Winterbottom, Lauren Nilsen, Dawn M. Stein, Joel Ciocarlie, Matei |
| author_facet | Palacios, Joaquin Deli-Ivanov, Alexandra Chen, Ava Winterbottom, Lauren Nilsen, Dawn M. Stein, Joel Ciocarlie, Matei |
| contents | Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel Throttle-based Wrist Angle control method, which allows users to maintain grasps without continued wrist extension. A pilot case study with a person with C6 spinal cord injury shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive wearable assistive devices for individuals with spinal cord injury. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_08020 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury Palacios, Joaquin Deli-Ivanov, Alexandra Chen, Ava Winterbottom, Lauren Nilsen, Dawn M. Stein, Joel Ciocarlie, Matei Robotics Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel Throttle-based Wrist Angle control method, which allows users to maintain grasps without continued wrist extension. A pilot case study with a person with C6 spinal cord injury shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive wearable assistive devices for individuals with spinal cord injury. |
| title | Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.08020 |