HandMATE: Wearable Robotic Hand Exoskeleton and Integrated Android App for At Home Stroke Rehabilitation.
HandMATE: Wearable Robotic Hand Exoskeleton and Integrated Android App for At Home Stroke Rehabilitation.
复制标题
DOI：
10.1109/embc44109.2020.9175332
复制
发表时间：
2020-07
期刊：
影响因子：
--
通讯作者：
Lum PS
中科院分区：
文献类型：
--
作者：
Sandison M;Phan K;Casas R;Nguyen L;Lum M;Pergami-Peries M;Lum PS
我们开发了HandMATE（手部运动辅助治疗外骨骼）;一种可穿戴的电动手部外骨骼，用于中风后的家庭运动治疗。每个手指和拇指由线性致动器提供动力，该线性致动器提供屈曲和伸展辅助。设计中集成了力敏电阻器，可测量抓握和伸展启动力。辅助治疗模式基于导纳控制策略。我们通过主题和台架测试评估了我们的控制系统。使用HandMATE进行握力跟踪任务时的错误最小（<1%），与无辅助的健康手表现相当。我们还概述了一个专门的应用程序，我们已经开发了最佳使用HandMATE在家里。外骨骼与Android平板电脑进行无线通信，该平板电脑具有指导练习，治疗游戏和性能反馈。我们调查了5名使用HandMATE设备的慢性中风患者，以进一步评估我们的系统，并收到了对外骨骼和集成应用程序的积极反馈。
We have developed HandMATE (Hand Movement Assisting Therapy Exoskeleton); a wearable motorized hand exoskeleton for home-based movement therapy following stroke. Each finger and the thumb is powered by a linear actuator which provides flexion and extension assistance. Force sensitive resistors integrated into the design measure grasp and extension initiation force. An assistive therapy mode is based on an admittance control strategy. We evaluated our control system via subject and bench testing. Errors during a grip force tracking task while using the HandMATE were minimal (<1%) and comparable to unassisted healthy hand performance. We also outline a dedicated app we have developed for optimal use of HandMATE at home. The exoskeleton communicates wirelessly with an Android tablet which features guided exercises, therapeutic games and performance feedback. We surveyed 5 chronic stroke patients who used the HandMATE device to further evaluate our system, receiving positive feedback on the exoskeleton and integrated app.