Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection
In recent decades, extensive attention has been paid to the study and development of robotic devices specifically designed for hand rehabilitation. Accordingly, a many concepts concerning rigid, soft, and hybrid types have emerged in the literature, with significant ongoing activity being directed t...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/20/11287 |
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| author | Gabriele Maria Achilli Cinzia Amici Mihai Dragusanu Massimiliano Gobbo Silvia Logozzo Monica Malvezzi Monica Tiboni Maria Cristina Valigi |
| author_facet | Gabriele Maria Achilli Cinzia Amici Mihai Dragusanu Massimiliano Gobbo Silvia Logozzo Monica Malvezzi Monica Tiboni Maria Cristina Valigi |
| author_sort | Gabriele Maria Achilli |
| collection | DOAJ |
| description | In recent decades, extensive attention has been paid to the study and development of robotic devices specifically designed for hand rehabilitation. Accordingly, a many concepts concerning rigid, soft, and hybrid types have emerged in the literature, with significant ongoing activity being directed towards the development of new solutions. In this context, the paper focuses on the technical features of devices conceived for the robotic rehabilitation of the hand with reference to the three kinds of exoskeleton architecture and the clinical requirements demanded by the target impairment of the end-user. The work proposes a roadmap (i) for both the design and selection of exoskeletons for hand rehabilitation, (ii) to discriminate among the peculiarities of soft, rigid, and hybrid devices, and (iii) with an impairment-oriented rationale. The clinical requirements expected for an exoskeleton are identified by applying a PICO-inspired approach focused on the impairment analysis; the technical features are extracted from a proposed design process for exoskeletons combined with a narrative literature review. A cross-analysis between device families and features is presented to provide a supporting tool for both the design and selection of exoskeletons according to an impairment-oriented rationale. |
| first_indexed | 2024-03-09T13:50:04Z |
| format | Article |
| id | doaj.art-614dc49e42be49f59cbe55b6253f91b8 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T13:50:04Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-614dc49e42be49f59cbe55b6253f91b82023-11-30T20:51:58ZengMDPI AGApplied Sciences2076-34172023-10-0113201128710.3390/app132011287Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and SelectionGabriele Maria Achilli0Cinzia Amici1Mihai Dragusanu2Massimiliano Gobbo3Silvia Logozzo4Monica Malvezzi5Monica Tiboni6Maria Cristina Valigi7Department of Engineering, Università degli Studi di Perugia, Via G. Duranti, 93, 06125 Perugia, ItalyDepartment of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, ItalyDepartment of Information Engineering and Mathematics, University of Siena, Via Roma, 56, 53100 Siena, ItalyDepartment of Clinical and Experimental Sciences, University of Brescia, Viale Europa, 11, 25123 Brescia, ItalyDepartment of Engineering, Università degli Studi di Perugia, Via G. Duranti, 93, 06125 Perugia, ItalyDepartment of Information Engineering and Mathematics, University of Siena, Via Roma, 56, 53100 Siena, ItalyDepartment of Mechanical and Industrial Engineering, University of Brescia, Via Branze, 38, 25123 Brescia, ItalyDepartment of Engineering, Università degli Studi di Perugia, Via G. Duranti, 93, 06125 Perugia, ItalyIn recent decades, extensive attention has been paid to the study and development of robotic devices specifically designed for hand rehabilitation. Accordingly, a many concepts concerning rigid, soft, and hybrid types have emerged in the literature, with significant ongoing activity being directed towards the development of new solutions. In this context, the paper focuses on the technical features of devices conceived for the robotic rehabilitation of the hand with reference to the three kinds of exoskeleton architecture and the clinical requirements demanded by the target impairment of the end-user. The work proposes a roadmap (i) for both the design and selection of exoskeletons for hand rehabilitation, (ii) to discriminate among the peculiarities of soft, rigid, and hybrid devices, and (iii) with an impairment-oriented rationale. The clinical requirements expected for an exoskeleton are identified by applying a PICO-inspired approach focused on the impairment analysis; the technical features are extracted from a proposed design process for exoskeletons combined with a narrative literature review. A cross-analysis between device families and features is presented to provide a supporting tool for both the design and selection of exoskeletons according to an impairment-oriented rationale.https://www.mdpi.com/2076-3417/13/20/11287exoskeleton deviceroboticshandmedical device designselection criteriaimpairments |
| spellingShingle | Gabriele Maria Achilli Cinzia Amici Mihai Dragusanu Massimiliano Gobbo Silvia Logozzo Monica Malvezzi Monica Tiboni Maria Cristina Valigi Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection Applied Sciences exoskeleton device robotics hand medical device design selection criteria impairments |
| title | Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection |
| title_full | Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection |
| title_fullStr | Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection |
| title_full_unstemmed | Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection |
| title_short | Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection |
| title_sort | soft rigid and hybrid robotic exoskeletons for hand rehabilitation roadmap with impairment oriented rationale for devices design and selection |
| topic | exoskeleton device robotics hand medical device design selection criteria impairments |
| url | https://www.mdpi.com/2076-3417/13/20/11287 |
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