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An Anthropomorphic Soft Exosuit for Hand Rehabilitation

Klug, Florian and Hessinger, Markus and Koka, Taulant and Witulla, Philipp and Will, Clara and Schlichting, Talita and Endl, Christian and Albenstetter, Alexander and Champagne, Pierre-Olivier and Gagnon, Dany H. and Kupnik, Mario (2019):
An Anthropomorphic Soft Exosuit for Hand Rehabilitation.
In: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), Toronto, ON, Canada, 24-28 June 2019, ISSN 1945-7901,
ISBN 978-1-7281-2755-2,
DOI: 10.1109/ICORR.2019.8779481,
[Conference or Workshop Item]

Abstract

Functional impairment of the hand, for example after a stroke, can be partially improved by intensive training. This is currently done by physiotherapy and the optimal intensity of hand rehabilitation programs is usually not reached due to a lack in human resources (high costs) and patients fatigue. In this work a cost-effective soft exosuit to support the hand’s grasping function is presented. The system is based on tendon-like wires and all fingers except the little finger are actuated. Each of the remaining four fingers is bidirectionally controlled by an electrical motor. This allows a variety of gripping situations, e.g. a power or precision grip. Our prototype weighs 435g, including the battery and can be worn on the upper arm. The force applicable for a power grip exceeds 20N with a maximum gripping frequency of 4Hz. Furthermore, a force control is implemented, giving the wearer the opportunity to grab sensitive objects. All components used are available in different sizes, allowing a quick and individual preparation per patient. Therefore, our prototype can be used for rehabilitation while doing activities of daily living (ADL) starting on the day of the injury.

Item Type: Conference or Workshop Item
Erschienen: 2019
Creators: Klug, Florian and Hessinger, Markus and Koka, Taulant and Witulla, Philipp and Will, Clara and Schlichting, Talita and Endl, Christian and Albenstetter, Alexander and Champagne, Pierre-Olivier and Gagnon, Dany H. and Kupnik, Mario
Title: An Anthropomorphic Soft Exosuit for Hand Rehabilitation
Language: English
Abstract:

Functional impairment of the hand, for example after a stroke, can be partially improved by intensive training. This is currently done by physiotherapy and the optimal intensity of hand rehabilitation programs is usually not reached due to a lack in human resources (high costs) and patients fatigue. In this work a cost-effective soft exosuit to support the hand’s grasping function is presented. The system is based on tendon-like wires and all fingers except the little finger are actuated. Each of the remaining four fingers is bidirectionally controlled by an electrical motor. This allows a variety of gripping situations, e.g. a power or precision grip. Our prototype weighs 435g, including the battery and can be worn on the upper arm. The force applicable for a power grip exceeds 20N with a maximum gripping frequency of 4Hz. Furthermore, a force control is implemented, giving the wearer the opportunity to grab sensitive objects. All components used are available in different sizes, allowing a quick and individual preparation per patient. Therefore, our prototype can be used for rehabilitation while doing activities of daily living (ADL) starting on the day of the injury.

ISBN: 978-1-7281-2755-2
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Microtechnology and Electromechanical Systems
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Event Title: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)
Event Location: Toronto, ON, Canada
Event Dates: 24-28 June 2019
Date Deposited: 19 Aug 2019 08:49
DOI: 10.1109/ICORR.2019.8779481
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