TY - GEN
T1 - Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module
AU - Butler, Nik R.
AU - Goodwin, Stephen A.
AU - Perry, Joel C.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/11
Y1 - 2017/8/11
N2 - There is a growing demand for functional rehabilitation orthotics that can effectively assist in patient recovery from motor impairments after stroke. The hand in particular is a complex system that has proven difficult to mimic with current exoskeleton technologies. This paper presents data-driven design parameters to increase the functionality and improve the assistance profile of the ArmAssist-2.0 hand module. Improvements from the previous model include adjustable linkages to fulfill the largest population of users, new joint locations to more accurately represent biomechanics of the hand, and a more impairment-appropriate torque profile to assist in hand opening, adjustable through interchangeable springs. In most passive hand orthoses, assistance forces tend to decrease as the hand and thumb extend, opposite the needs of a typical patient hand. This project utilizes a variable spring moment arm about the revolute axes to match common patient impairment more accurately. The revised assistance profile for the hand maintains a nearly linear relationship. Results conclude that the final assembled device fits comfortably in the hand with noticeable improvements in joint locations, adjustability, and the force profile for the metacarpophalangeal (MCP) joint. An issue arises with the extension of the proximal interphalangeal (PIP) joint due to the nature of rapidly changing moment arms and multiple springs in series. The issue and possible solutions are discussed.
AB - There is a growing demand for functional rehabilitation orthotics that can effectively assist in patient recovery from motor impairments after stroke. The hand in particular is a complex system that has proven difficult to mimic with current exoskeleton technologies. This paper presents data-driven design parameters to increase the functionality and improve the assistance profile of the ArmAssist-2.0 hand module. Improvements from the previous model include adjustable linkages to fulfill the largest population of users, new joint locations to more accurately represent biomechanics of the hand, and a more impairment-appropriate torque profile to assist in hand opening, adjustable through interchangeable springs. In most passive hand orthoses, assistance forces tend to decrease as the hand and thumb extend, opposite the needs of a typical patient hand. This project utilizes a variable spring moment arm about the revolute axes to match common patient impairment more accurately. The revised assistance profile for the hand maintains a nearly linear relationship. Results conclude that the final assembled device fits comfortably in the hand with noticeable improvements in joint locations, adjustability, and the force profile for the metacarpophalangeal (MCP) joint. An issue arises with the extension of the proximal interphalangeal (PIP) joint due to the nature of rapidly changing moment arms and multiple springs in series. The issue and possible solutions are discussed.
UR - https://www.scopus.com/pages/publications/85034837997
U2 - 10.1109/ICORR.2017.8009312
DO - 10.1109/ICORR.2017.8009312
M3 - Conference contribution
C2 - 28813884
AN - SCOPUS:85034837997
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 591
EP - 596
BT - 2017 International Conference on Rehabilitation Robotics, ICORR 2017
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Beckerle, Philipp
A2 - Grioli, Giorgio
A2 - Lambercy, Olivier
A2 - Mombaur, Katja
A2 - Novak, Domen
A2 - Rauter, Georg
A2 - Rodriguez Guerrero, Carlos
A2 - Salvietti, Gionata
A2 - Amirabdollahian, Farshid
A2 - Balasubramanian, Sivakumar
A2 - Castellini, Claudio
A2 - Di Pino, Giovanni
A2 - Guo, Zhao
A2 - Hughes, Charmayne
A2 - Iida, Fumiya
A2 - Lenzi, Tommaso
A2 - Ruffaldi, Emanuele
A2 - Sergi, Fabrizio
A2 - Soh, Gim Song
A2 - Caimmi, Marco
A2 - Cappello, Leonardo
A2 - Carloni, Raffaella
A2 - Carlson, Tom
A2 - Casadio, Maura
A2 - Coscia, Martina
A2 - De Santis, Dalia
A2 - Forner-Cordero, Arturo
A2 - Howard, Matthew
A2 - Piovesan, Davide
A2 - Siqueira, Adriano
A2 - Sup, Frank
A2 - Lorenzo, Masia
A2 - Catalano, Manuel Giuseppe
A2 - Lee, Hyunglae
A2 - Menon, Carlo
A2 - Raspopovic, Stanisa
A2 - Rastgaar, Mo
A2 - Ronsse, Renaud
A2 - van Asseldonk, Edwin
A2 - Vanderborght, Bram
A2 - Venkadesan, Madhusudhan
A2 - Bianchi, Matteo
A2 - Braun, David
A2 - Godfrey, Sasha Blue
A2 - Mastrogiovanni, Fulvio
A2 - McDaid, Andrew
A2 - Rossi, Stefano
A2 - Zenzeri, Jacopo
A2 - Formica, Domenico
A2 - Karavas, Nikolaos
A2 - Marchal-Crespo, Laura
A2 - Reed, Kyle B.
A2 - Tagliamonte, Nevio Luigi
A2 - Burdet, Etienne
A2 - Basteris, Angelo
A2 - Campolo, Domenico
A2 - Deshpande, Ashish
A2 - Dubey, Venketesh
A2 - Hussain, Asif
A2 - Sanguineti, Vittorio
A2 - Unal, Ramazan
A2 - Caurin, Glauco Augusto de Paula
A2 - Koike, Yasuharu
A2 - Mazzoleni, Stefano
A2 - Park, Hyung-Soon
A2 - Remy, C. David
A2 - Saint-Bauzel, Ludovic
A2 - Tsagarakis, Nikos
A2 - Veneman, Jan
A2 - Zhang, Wenlong
PB - IEEE Computer Society
T2 - 2017 International Conference on Rehabilitation Robotics, ICORR 2017
Y2 - 17 July 2017 through 20 July 2017
ER -
