Stroke survivors who experience severe hemiparesis often cannot completely recover the use of their hand and arm. Many of the rehabilitation devices currently available are designed to increase the functional recovery right after the stroke when, in some cases, biological restoring and plastic reorganization of the central nervous system can take place. However, this is not always the case. Even after extensive therapeutic interventions, the probability of regaining functional use of the impaired hand is low. In this respect, we present a novel robotic system composed of a supernumerary robotic finger and a wearable cutaneous finger interface. The supernumerary finger is used to help grasping objects while the wearable interface provides information about the forces exerted by the robotic finger on the object being held. We carried out two experiments, enrolling 16 healthy subjects and 2 chronic stroke patients. Results showed that using the supernumerary finger greatly improved the grasping capabilities of the subjects. Moreover, providing cutaneous feedback significantly improved the performance of the considered task and was preferred by all subjects.
|Titolo:||A soft robotic supernumerary finger and a wearable cutaneous finger interface to compensate the missing grasping capabilities in chronic stroke patients|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|
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|WHC_2017.pdf||Accepted Version. European Union (EU), FP7 and Horizon 2020 programmes. European projects "WEARable HAPtics for Humans and Robots" (WEARHAP), FP7 Integrated Project, Grant Agreement n. 601165, and “Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn” (SoftPro), H2020 Research & Innovation Action, Grant Agreement n. 688857. © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/WHC.2017.7989898||N/A||PUBBLICO - Pubblico con Copyright||Open Access Visualizza/Apri|