This letter presents the Soft-SixthFinger, a wearable robotic extra-finger designed to be used by chronic stroke patients to compensate for the missing hand function of their paretic limb. The extra-finger is an underactuated modular structure worn on the paretic forearm by means of an elastic band. The device and the paretic hand/arm act like the two parts of a gripper working together to hold an object. The patient can control the flexion/extension of the robotic finger through the eCap, an electromyography-based (EMG) interface embedded in a cap. The user can control the device by contracting the frontalis muscle. Such contraction can be achieved simply moving his or her eyebrows upwards. The Soft-SixthFinger has been designed as tool that can be used by chronic stroke patients to compensate for grasping in many activities of daily living (ADL). It can be wrapped around the wrist and worn as a bracelet when not used. The light weight and the complete wireless connection with the EMG interface guarantee a high portability and wearability. We tested the device with qualitative experiments involving six chronic stroke patients. Results show that the proposed system significantly improves the performances of the patients in the proposed tests and, more in general, their autonomy in ADL.
|Titolo:||The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients|
|Appare nelle tipologie:||1.1 Articolo in rivista|
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|IEEE RAL.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. © 2016 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/LRA.2016.2530793.||N/A||PUBBLICO - Pubblico con Copyright||Open Access Visualizza/Apri|