Post on 29-Jan-2016
Robotics in Wrist and HandRehabilitation
Group 1Thanawin T. (5413085)
Jirawat I. (5413341)
Than I. (5413354)
Outline
Group
Example
Application Field [1]
1. Support to perform some activities of daily living (ADL)
2. Providing physical training (therapy)
PowerGrip system (Broaden Horizons, Inc., USA)
Type of assistance
1. Active devices
2. Passive devices
3. Haptic devices
4. Coaching devices
Hand Mentor™
DOFSupported movements
Main control inputs
ActuatorsType; field of application
Stage of development
1
Wrist and 4 fingers (except the thumb) extension
Wrist angle, flexion torque
Pneumatic (PAM) (x1)
Wearable orthosis; physical therapy
Commercial
Kinematic Muscles Inc.
ActuationElectric actuators
Hydraulic actuators
Pneumatic actuators
Pneumatic Artificial Muscle (PAM, McKibben type actuator)
Series Elastic Actuator (SEA)
Functional Electrical Stimulation (FES)
Rubbertuator, Bridgestone rubber Inc. (Japan)
The HADE2 Leg for Agile Locomotion
Control strategy
Assistive control strategy
Low-level
High-level
impedance-based, counterbalance-based, EMG-based and performance-based adaptive control
Challenge-based control strategy
Haptic stimulation strategyresistive, amplifying error and constraint-induced
Non-contacting coaching strategy
Impedance control approach
admittance control approach
PolyJbot
DOFSupported movements
Main control inputs
ActuatorsType; field of application
1 Wrist (Flexion)sEMG, joint angle and torque
DC servomotor (x1)
Stationary system; physical therapy
T. Song, Philip Research (China)
ASSIST
DOFSupported movements
Main control inputs
ActuatorsType; field of application
Stage of development
1Wrist (Flexion)
Joint angleRotary-type pneumatic actuator (x2)
Power assistance
C0 Study: 5hr
Sasaki D, Noritsugu T, Takaiwa M (2005)
InMotion WRISTMotion Tech, Inc. (USA)
DOFSupported movements
Main control inputs
ActuatorsType; field of application
Stage of development
3Forearm – PS, wrist – FE * AA
Joint angleDC brushless motors (x3)
Stationary system; physical therapy
Commercial
ArmeoSpringHocoma (Switzerland) based on: T-WREX, Sanchez
DOFSupported movements
Main control inputs
ActuatorsType; field of application
Stage of development
7
Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, fingers – GR
Joint angles, grasp force
NoneStationary system (exoskeleton-based); physical therapy
Commercial system (CE Mark, FDA clearance);
Image Reference
Reference[1] Maciejasz et al. A survey on robotic devices for upper limb rehabilitation. Journal of Neuro Engineering and Rehabilitation 2014, 11:3
Clinical Trials
Category 0
Initial feasibility studies: Trials performed with low number of healthy volunteers, often using the prototype of a device, in order to evaluate its safety and clinical feasibility.
Category I
Pilot Consideration-of-Concept studies: Clinical trials aimed at testing device safety, clinical feasibility and potential benefit. They are performed in a small population of subjects suffering from the target disease. There is either no control group in the trial, or healthy subjects are used as control.
Category II
Development-of-Concept studies: Clinical studies aiming at verification of device efficacy. Include a standardized description of the intervention, a control group, randomization and blinded outcome assessment.
Category III/IV
Demonstration-of-Concept-Studies/Proof-of-Concept studies: Further evaluation of the device efficacy. Similar to category II, however, usually these are multicentered studies with high number of participants.
guidelines provided by Lo [2] and supplemented by Category 0.