Hand Exoskeleton for Assessment and Therapy of Hand Spasticity
We have recently developed a prototype single-finger exoskeleton to perform active finger movements to mimic a therapist for assessment of hand spasticity. This is perhaps the first prototype to automatically perform quantifiably standardized, objective and rigorous evaluation of hand-spasticity. Also a prototype GUI software tool is designed to operate the exoskeleton, to be user friendly for the medical therapists and to produce a report document in a style familiar to them. Very positive feedback was obtained from medical therapists about this initial prototype. The current project targets developing this initial prototype towards a full hand exoskeleton capable of performing full spasticity assessment as well as to be used as a therapy device adaptable to the specific needs of individual patients. The project involves mechatronic design, low level motor and robot control, development of high-level control scheme imitating therapy practices, and interaction with therapists, doctors, and patients.
Erden, M.S., McColl, W., Abassebay, D., and Haldane, S., 2020, “Hand Exoskeleton to Assess Hand Spasticity”, IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics (BioRob 2020).