A Compact and Lightweight Rehabilitative Exoskeleton to Restore Grasping Functions for People with Hand Paralysis

Sensors, 2021 · DOI: 10.3390/s21206900 · Published: October 18, 2021

Simple Explanation

This research focuses on developing a lightweight and wearable robotic hand exoskeleton for individuals with hand paralysis due to neurological disorders. The goal is to help restore hand functions needed for daily tasks. The exoskeleton uses a combination of rigid parts and a soft mechanism to enable various grasping motions. It was tested on two individuals with quadriplegia, and the results showed immediate success in grasping different objects independently. The design emphasizes safety, convenience, and usability in everyday life. The exoskeleton is controlled using EMG signals from the user's forearm muscles, allowing for intuitive control of hand movements.

Study Duration

Not specified

Participants

Two quadriplegics with chronic hand paralysis

Evidence Level

Not specified

Key Findings

1
The developed exoskeleton can produce a fingertip force of up to 8 N and cover 91.5 degrees of range of motion in just 3 seconds.
2
The exoskeleton enabled two quadriplegic participants with chronic hand paralysis to independently grasp different daily objects.
3
The lightweight design (228 g) and five degrees of freedom (DOF) of the exoskeleton helped study participants grasp, hold, and manipulate different objects.

Research Summary

This study presents a compact and lightweight hand exoskeleton designed to aid individuals with hand paralysis in regaining grasping functions. The device utilizes a three-layered sliding spring mechanism and EMG control for intuitive operation. The exoskeleton was mechanically evaluated, demonstrating its ability to produce sufficient fingertip force and range of motion for various grasping tasks. Two individuals with chronic cervical spinal cord injury were able to use the device to grasp and manipulate objects. The results suggest that the developed exoskeleton is a viable option for hand function assistance, potentially improving the quality of life for patients with impaired hand function. The lightweight design and immediate usability are key advantages.

Practical Implications

Improved Independence

The exoskeleton can enhance the user's independence by enabling them to perform daily activities that were previously difficult or impossible.

Enhanced Rehabilitation

The device can be used as a tool for functional rehabilitation, helping patients regain lost finger control and improve hand strength.

Assistive Technology Advancement

The study contributes to the development of more compact, lightweight, and user-friendly assistive devices for individuals with hand paralysis.

Study Limitations

1
The control system utilizes a simple linear envelope of a surface EMG signal for single degree of freedom control, which can be varied between the users and thus needs individual adjustments.
2
This strategy was also unable to control the individual ﬁngers of the exoskeleton robot.
3
Another limitation may be the ﬁngertip force, which is expected to be 10 N to lift items weighing up to 1 kg [5], whereas our ﬁnger mechanism of the robot currently produces up to 8 N.

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