Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module

Nik R. Butler; Stephen A. Goodwin; Joel C. Perry

doi:10.1109/ICORR.2017.8009312

Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module

Nik R. Butler
, Stephen A. Goodwin
, Joel C. Perry

University of Alaska Anchorage
University of Idaho

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

9 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2017 International Conference on Rehabilitation Robotics, ICORR 2017
Editores	Arash Ajoudani, Panagiotis Artemiadis, Philipp Beckerle, Giorgio Grioli, Olivier Lambercy, Katja Mombaur, Domen Novak, Georg Rauter, Carlos Rodriguez Guerrero, Gionata Salvietti, Farshid Amirabdollahian, Sivakumar Balasubramanian, Claudio Castellini, Giovanni Di Pino, Zhao Guo, Charmayne Hughes, Fumiya Iida, Tommaso Lenzi, Emanuele Ruffaldi, Fabrizio Sergi, Gim Song Soh, Marco Caimmi, Leonardo Cappello, Raffaella Carloni, Tom Carlson, Maura Casadio, Martina Coscia, Dalia De Santis, Arturo Forner-Cordero, Matthew Howard, Davide Piovesan, Adriano Siqueira, Frank Sup, Masia Lorenzo, Manuel Giuseppe Catalano, Hyunglae Lee, Carlo Menon, Stanisa Raspopovic, Mo Rastgaar, Renaud Ronsse, Edwin van Asseldonk, Bram Vanderborght, Madhusudhan Venkadesan, Matteo Bianchi, David Braun, Sasha Blue Godfrey, Fulvio Mastrogiovanni, Andrew McDaid, Stefano Rossi, Jacopo Zenzeri, Domenico Formica, Nikolaos Karavas, Laura Marchal-Crespo, Kyle B. Reed, Nevio Luigi Tagliamonte, Etienne Burdet, Angelo Basteris, Domenico Campolo, Ashish Deshpande, Venketesh Dubey, Asif Hussain, Vittorio Sanguineti, Ramazan Unal, Glauco Augusto de Paula Caurin, Yasuharu Koike, Stefano Mazzoleni, Hyung-Soon Park, C. David Remy, Ludovic Saint-Bauzel, Nikos Tsagarakis, Jan Veneman, Wenlong Zhang
Editorial	IEEE Computer Society
Páginas	591-596
Número de páginas	6
ISBN (versión digital)	9781538622964
DOI	https://doi.org/10.1109/ICORR.2017.8009312
Estado	Publicada - 11 ago 2017
Publicado de forma externa	Sí
Evento	2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, Reino Unido Duración: 17 jul 2017 → 20 jul 2017

Serie de la publicación

Nombre	IEEE International Conference on Rehabilitation Robotics
ISSN (versión impresa)	1945-7898
ISSN (versión digital)	1945-7901

Conferencia

Conferencia	2017 International Conference on Rehabilitation Robotics, ICORR 2017
País/Territorio	Reino Unido
Ciudad	London
Período	17/07/17 → 20/07/17

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar

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10.1109/ICORR.2017.8009312

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Butler, N. R., Goodwin, S. A., & Perry, J. C. (2017). Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module. En A. Ajoudani, P. Artemiadis, P. Beckerle, G. Grioli, O. Lambercy, K. Mombaur, D. Novak, G. Rauter, C. Rodriguez Guerrero, G. Salvietti, F. Amirabdollahian, S. Balasubramanian, C. Castellini, G. Di Pino, Z. Guo, C. Hughes, F. Iida, T. Lenzi, E. Ruffaldi, F. Sergi, G. S. Soh, M. Caimmi, L. Cappello, R. Carloni, T. Carlson, M. Casadio, M. Coscia, D. De Santis, A. Forner-Cordero, M. Howard, D. Piovesan, A. Siqueira, F. Sup, M. Lorenzo, M. G. Catalano, H. Lee, C. Menon, S. Raspopovic, M. Rastgaar, R. Ronsse, E. van Asseldonk, B. Vanderborght, M. Venkadesan, M. Bianchi, D. Braun, S. B. Godfrey, F. Mastrogiovanni, A. McDaid, S. Rossi, J. Zenzeri, D. Formica, N. Karavas, L. Marchal-Crespo, K. B. Reed, N. L. Tagliamonte, E. Burdet, A. Basteris, D. Campolo, A. Deshpande, V. Dubey, A. Hussain, V. Sanguineti, R. Unal, G. A. D. P. Caurin, Y. Koike, S. Mazzoleni, H.-S. Park, C. D. Remy, L. Saint-Bauzel, N. Tsagarakis, J. Veneman, ... W. Zhang (Eds.), 2017 International Conference on Rehabilitation Robotics, ICORR 2017 (pp. 591-596). Artículo 8009312 (IEEE International Conference on Rehabilitation Robotics). IEEE Computer Society. https://doi.org/10.1109/ICORR.2017.8009312

Butler, Nik R. ; Goodwin, Stephen A. ; Perry, Joel C. / Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module. 2017 International Conference on Rehabilitation Robotics, ICORR 2017. editor / Arash Ajoudani ; Panagiotis Artemiadis ; Philipp Beckerle ; Giorgio Grioli ; Olivier Lambercy ; Katja Mombaur ; Domen Novak ; Georg Rauter ; Carlos Rodriguez Guerrero ; Gionata Salvietti ; Farshid Amirabdollahian ; Sivakumar Balasubramanian ; Claudio Castellini ; Giovanni Di Pino ; Zhao Guo ; Charmayne Hughes ; Fumiya Iida ; Tommaso Lenzi ; Emanuele Ruffaldi ; Fabrizio Sergi ; Gim Song Soh ; Marco Caimmi ; Leonardo Cappello ; Raffaella Carloni ; Tom Carlson ; Maura Casadio ; Martina Coscia ; Dalia De Santis ; Arturo Forner-Cordero ; Matthew Howard ; Davide Piovesan ; Adriano Siqueira ; Frank Sup ; Masia Lorenzo ; Manuel Giuseppe Catalano ; Hyunglae Lee ; Carlo Menon ; Stanisa Raspopovic ; Mo Rastgaar ; Renaud Ronsse ; Edwin van Asseldonk ; Bram Vanderborght ; Madhusudhan Venkadesan ; Matteo Bianchi ; David Braun ; Sasha Blue Godfrey ; Fulvio Mastrogiovanni ; Andrew McDaid ; Stefano Rossi ; Jacopo Zenzeri ; Domenico Formica ; Nikolaos Karavas ; Laura Marchal-Crespo ; Kyle B. Reed ; Nevio Luigi Tagliamonte ; Etienne Burdet ; Angelo Basteris ; Domenico Campolo ; Ashish Deshpande ; Venketesh Dubey ; Asif Hussain ; Vittorio Sanguineti ; Ramazan Unal ; Glauco Augusto de Paula Caurin ; Yasuharu Koike ; Stefano Mazzoleni ; Hyung-Soon Park ; C. David Remy ; Ludovic Saint-Bauzel ; Nikos Tsagarakis ; Jan Veneman ; Wenlong Zhang. IEEE Computer Society, 2017. pp. 591-596 (IEEE International Conference on Rehabilitation Robotics).

@inproceedings{60e7dcf0e48e4b1db299415ff21fb80c,

title = "Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module",

abstract = "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.",

author = "Butler, \{Nik R.\} and Goodwin, \{Stephen A.\} and Perry, \{Joel C.\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Rehabilitation Robotics, ICORR 2017 ; Conference date: 17-07-2017 Through 20-07-2017",

year = "2017",

month = aug,

day = "11",

doi = "10.1109/ICORR.2017.8009312",

language = "English",

series = "IEEE International Conference on Rehabilitation Robotics",

publisher = "IEEE Computer Society",

pages = "591--596",

editor = "Arash Ajoudani and Panagiotis Artemiadis and Philipp Beckerle and Giorgio Grioli and Olivier Lambercy and Katja Mombaur and Domen Novak and Georg Rauter and \{Rodriguez Guerrero\}, Carlos and Gionata Salvietti and Farshid Amirabdollahian and Sivakumar Balasubramanian and Claudio Castellini and \{Di Pino\}, Giovanni and Zhao Guo and Charmayne Hughes and Fumiya Iida and Tommaso Lenzi and Emanuele Ruffaldi and Fabrizio Sergi and Soh, \{Gim Song\} and Marco Caimmi and Leonardo Cappello and Raffaella Carloni and Tom Carlson and Maura Casadio and Martina Coscia and \{De Santis\}, Dalia and Arturo Forner-Cordero and Matthew Howard and Davide Piovesan and Adriano Siqueira and Frank Sup and Masia Lorenzo and Catalano, \{Manuel Giuseppe\} and Hyunglae Lee and Carlo Menon and Stanisa Raspopovic and Mo Rastgaar and Renaud Ronsse and \{van Asseldonk\}, Edwin and Bram Vanderborght and Madhusudhan Venkadesan and Matteo Bianchi and David Braun and Godfrey, \{Sasha Blue\} and Fulvio Mastrogiovanni and Andrew McDaid and Stefano Rossi and Jacopo Zenzeri and Domenico Formica and Nikolaos Karavas and Laura Marchal-Crespo and Reed, \{Kyle B.\} and Tagliamonte, \{Nevio Luigi\} and Etienne Burdet and Angelo Basteris and Domenico Campolo and Ashish Deshpande and Venketesh Dubey and Asif Hussain and Vittorio Sanguineti and Ramazan Unal and Caurin, \{Glauco Augusto de Paula\} and Yasuharu Koike and Stefano Mazzoleni and Hyung-Soon Park and Remy, \{C. David\} and Ludovic Saint-Bauzel and Nikos Tsagarakis and Jan Veneman and Wenlong Zhang",

booktitle = "2017 International Conference on Rehabilitation Robotics, ICORR 2017",

address = "United States",

}

Butler, NR, Goodwin, SA & Perry, JC 2017, Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module. En A Ajoudani, P Artemiadis, P Beckerle, G Grioli, O Lambercy, K Mombaur, D Novak, G Rauter, C Rodriguez Guerrero, G Salvietti, F Amirabdollahian, S Balasubramanian, C Castellini, G Di Pino, Z Guo, C Hughes, F Iida, T Lenzi, E Ruffaldi, F Sergi, GS Soh, M Caimmi, L Cappello, R Carloni, T Carlson, M Casadio, M Coscia, D De Santis, A Forner-Cordero, M Howard, D Piovesan, A Siqueira, F Sup, M Lorenzo, MG Catalano, H Lee, C Menon, S Raspopovic, M Rastgaar, R Ronsse, E van Asseldonk, B Vanderborght, M Venkadesan, M Bianchi, D Braun, SB Godfrey, F Mastrogiovanni, A McDaid, S Rossi, J Zenzeri, D Formica, N Karavas, L Marchal-Crespo, KB Reed, NL Tagliamonte, E Burdet, A Basteris, D Campolo, A Deshpande, V Dubey, A Hussain, V Sanguineti, R Unal, GADP Caurin, Y Koike, S Mazzoleni, H-S Park, CD Remy, L Saint-Bauzel, N Tsagarakis, J Veneman & W Zhang (eds.), 2017 International Conference on Rehabilitation Robotics, ICORR 2017., 8009312, IEEE International Conference on Rehabilitation Robotics, IEEE Computer Society, pp. 591-596, 2017 International Conference on Rehabilitation Robotics, ICORR 2017, London, Reino Unido, 17/07/17. https://doi.org/10.1109/ICORR.2017.8009312

Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module. / Butler, Nik R.; Goodwin, Stephen A.; Perry, Joel C.
2017 International Conference on Rehabilitation Robotics, ICORR 2017. ed. / Arash Ajoudani; Panagiotis Artemiadis; Philipp Beckerle; Giorgio Grioli; Olivier Lambercy; Katja Mombaur; Domen Novak; Georg Rauter; Carlos Rodriguez Guerrero; Gionata Salvietti; Farshid Amirabdollahian; Sivakumar Balasubramanian; Claudio Castellini; Giovanni Di Pino; Zhao Guo; Charmayne Hughes; Fumiya Iida; Tommaso Lenzi; Emanuele Ruffaldi; Fabrizio Sergi; Gim Song Soh; Marco Caimmi; Leonardo Cappello; Raffaella Carloni; Tom Carlson; Maura Casadio; Martina Coscia; Dalia De Santis; Arturo Forner-Cordero; Matthew Howard; Davide Piovesan; Adriano Siqueira; Frank Sup; Masia Lorenzo; Manuel Giuseppe Catalano; Hyunglae Lee; Carlo Menon; Stanisa Raspopovic; Mo Rastgaar; Renaud Ronsse; Edwin van Asseldonk; Bram Vanderborght; Madhusudhan Venkadesan; Matteo Bianchi; David Braun; Sasha Blue Godfrey; Fulvio Mastrogiovanni; Andrew McDaid; Stefano Rossi; Jacopo Zenzeri; Domenico Formica; Nikolaos Karavas; Laura Marchal-Crespo; Kyle B. Reed; Nevio Luigi Tagliamonte; Etienne Burdet; Angelo Basteris; Domenico Campolo; Ashish Deshpande; Venketesh Dubey; Asif Hussain; Vittorio Sanguineti; Ramazan Unal; Glauco Augusto de Paula Caurin; Yasuharu Koike; Stefano Mazzoleni; Hyung-Soon Park; C. David Remy; Ludovic Saint-Bauzel; Nikos Tsagarakis; Jan Veneman; Wenlong Zhang. IEEE Computer Society, 2017. p. 591-596 8009312 (IEEE International Conference on Rehabilitation Robotics).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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.

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 -

Butler NR, Goodwin SA, Perry JC. Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module. En Ajoudani A, Artemiadis P, Beckerle P, Grioli G, Lambercy O, Mombaur K, Novak D, Rauter G, Rodriguez Guerrero C, Salvietti G, Amirabdollahian F, Balasubramanian S, Castellini C, Di Pino G, Guo Z, Hughes C, Iida F, Lenzi T, Ruffaldi E, Sergi F, Soh GS, Caimmi M, Cappello L, Carloni R, Carlson T, Casadio M, Coscia M, De Santis D, Forner-Cordero A, Howard M, Piovesan D, Siqueira A, Sup F, Lorenzo M, Catalano MG, Lee H, Menon C, Raspopovic S, Rastgaar M, Ronsse R, van Asseldonk E, Vanderborght B, Venkadesan M, Bianchi M, Braun D, Godfrey SB, Mastrogiovanni F, McDaid A, Rossi S, Zenzeri J, Formica D, Karavas N, Marchal-Crespo L, Reed KB, Tagliamonte NL, Burdet E, Basteris A, Campolo D, Deshpande A, Dubey V, Hussain A, Sanguineti V, Unal R, Caurin GADP, Koike Y, Mazzoleni S, Park HS, Remy CD, Saint-Bauzel L, Tsagarakis N, Veneman J, Zhang W, editores, 2017 International Conference on Rehabilitation Robotics, ICORR 2017. IEEE Computer Society. 2017. p. 591-596. 8009312. (IEEE International Conference on Rehabilitation Robotics). doi: 10.1109/ICORR.2017.8009312

Design parameters and torque profile modification of a spring-assisted hand-opening exoskeleton module

Resumen

Serie de la publicación

Conferencia

ODS de las Naciones Unidas

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