Robotics in Wrist and HandRehabilitation

Group 1Thanawin T. (5413085)

Jirawat I. (5413341)

Than I. (5413354)

Outline

Group

Example

Application Field [1]

1. Support to perform some activities of daily living (ADL)

2. Providing physical training (therapy)

PowerGrip system (Broaden Horizons, Inc., USA)

Type of assistance

1. Active devices

2. Passive devices

3. Haptic devices

4. Coaching devices

Hand Mentor™

DOFSupported movements

Main control inputs

ActuatorsType; field of application

Stage of development

1

Wrist and 4 fingers (except the thumb) extension

Wrist angle, flexion torque

Pneumatic (PAM) (x1)

Wearable orthosis; physical therapy

Commercial

Kinematic Muscles Inc.

ActuationElectric actuators

Hydraulic actuators

Pneumatic actuators

Pneumatic Artificial Muscle (PAM, McKibben type actuator)

Series Elastic Actuator (SEA)

Functional Electrical Stimulation (FES)

Rubbertuator, Bridgestone rubber Inc. (Japan)

The HADE2 Leg for Agile Locomotion

Control strategy

Assistive control strategy

Low-level

High-level

impedance-based, counterbalance-based, EMG-based and performance-based adaptive control

Challenge-based control strategy

Haptic stimulation strategyresistive, amplifying error and constraint-induced

Non-contacting coaching strategy

Impedance control approach

admittance control approach

PolyJbot

DOFSupported movements

Main control inputs

ActuatorsType; field of application

1 Wrist (Flexion)sEMG, joint angle and torque

DC servomotor (x1)

Stationary system; physical therapy

T. Song, Philip Research (China)

ASSIST

DOFSupported movements

Main control inputs

ActuatorsType; field of application

Stage of development

1Wrist (Flexion)

Joint angleRotary-type pneumatic actuator (x2)

Power assistance

C0 Study: 5hr

Sasaki D, Noritsugu T, Takaiwa M (2005)

InMotion WRISTMotion Tech, Inc. (USA)

DOFSupported movements

Main control inputs

ActuatorsType; field of application

Stage of development

3Forearm – PS, wrist – FE * AA

Joint angleDC brushless motors (x3)

Stationary system; physical therapy

Commercial

ArmeoSpringHocoma (Switzerland) based on: T-WREX, Sanchez

DOFSupported movements

Main control inputs

ActuatorsType; field of application

Stage of development

7

Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, fingers – GR

Joint angles, grasp force

NoneStationary system (exoskeleton-based); physical therapy

Commercial system (CE Mark, FDA clearance);

Image Reference

Reference[1] Maciejasz et al. A survey on robotic devices for upper limb rehabilitation. Journal of Neuro Engineering and Rehabilitation 2014, 11:3

Clinical Trials

Category 0

Initial feasibility studies: Trials performed with low number of healthy volunteers, often using the prototype of a device, in order to evaluate its safety and clinical feasibility.

Category I

Pilot Consideration-of-Concept studies: Clinical trials aimed at testing device safety, clinical feasibility and potential benefit. They are performed in a small population of subjects suffering from the target disease. There is either no control group in the trial, or healthy subjects are used as control.

Category II

Development-of-Concept studies: Clinical studies aiming at verification of device efficacy. Include a standardized description of the intervention, a control group, randomization and blinded outcome assessment.

Category III/IV

Demonstration-of-Concept-Studies/Proof-of-Concept studies: Further evaluation of the device efficacy. Similar to category II, however, usually these are multicentered studies with high number of participants.

guidelines provided by Lo [2] and supplemented by Category 0.