Effects of a robot-assisted training of grasp and pronation/supination in chronic stroke: a pilot study.

Background: Rehabilitation of hand function is challenging, and only few studies have investigated robot-assisted rehabilitation focusing on distal joints of the upper limb. This paper investigates the feasibility of using the HapticKnob, a table-top end-effector device, for robot-assisted rehabilitation of grasping and forearm pronation/supination, two important functions for activities of daily living involving the hand, and which are often impaired in chronic stroke patients. It evaluates the effectiveness of this device for improving hand function and the transfer of improvement to arm function.

A technique to train finger coordination and independence after stroke.

Purpose: Finger coordination and independence are often impaired in stroke survivors, preventing them from performing activities of daily living. We have developed a technique using a robotic interface, the HandCARE, to train these functions.

Method: The Hand Cable-Actuated REhabilitation (CARE) system can assist the subject in opening and closing movements of the hand, and can be adapted to accommodate various hand sizes and finger shapes.

HandCARE: a cable-actuated rehabilitation system to train hand function after stroke.

We have developed a robotic interface to train hand and finger function. HandCARE is a Cable-Actuated REhabilitation system, in which each finger is attached to an instrumented cable loop allowing force control and a predominantly linear displacement. The device, whose designed is based on biomechanical measurements, can assist the subject in opening and closing movements and can be adapted to accommodate various hand shapes and finger sizes.

A haptic knob for rehabilitation of hand function.

This paper describes a novel two-degree-of-freedom robotic interface to train opening/closing of the hand and knob manipulation. The mechanical design, based on two parallelogram structures holding an exchangeable button, offers the possibility to adapt the interface to various hand sizes and finger orientations, as well as to right-handed or left-handed subjects. The interaction with the subject is measured by means of position encoders and four force sensors located close to the output measuring grasping and insertion forces.