Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System
Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technol...
| Main Authors: | , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-06-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2021.661354/full |
| _version_ | 1818437097464266752 |
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| author | Gionata Salvietti Leonardo Franco Martin Tschiersky Gerjan Wolterink Matteo Bianchi Antonio Bicchi Federica Barontini Manuel Catalano Giorgio Grioli Mattia Poggiani Simone Rossi Domenico Prattichizzo |
| author_facet | Gionata Salvietti Leonardo Franco Martin Tschiersky Gerjan Wolterink Matteo Bianchi Antonio Bicchi Federica Barontini Manuel Catalano Giorgio Grioli Mattia Poggiani Simone Rossi Domenico Prattichizzo |
| author_sort | Gionata Salvietti |
| collection | DOAJ |
| description | Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance. |
| first_indexed | 2024-12-14T17:19:15Z |
| format | Article |
| id | doaj.art-7216e09002464f25ad21f8ed4f655f85 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-14T17:19:15Z |
| publishDate | 2021-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-7216e09002464f25ad21f8ed4f655f852022-12-21T22:53:21ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-06-01810.3389/frobt.2021.661354661354Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable SystemGionata Salvietti0Leonardo Franco1Martin Tschiersky2Gerjan Wolterink3Matteo Bianchi4Antonio Bicchi5Federica Barontini6Manuel Catalano7Giorgio Grioli8Mattia Poggiani9Simone Rossi10Domenico Prattichizzo11Siena Robotics and Systems Laboratory Group, Department of Information Engineering and Mathematical Science, University of Siena, Siena, ItalySiena Robotics and Systems Laboratory Group, Department of Information Engineering and Mathematical Science, University of Siena, Siena, ItalyChair of Precision Engineering, Department of Engineering Technology, University of Twente, Enschede, NetherlandsBiomedical Signals and Systems (BSS) and Robotics and Mechatronics (RAM) Group, Department of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, NetherlandsResearch Centre “E. Piaggio” and Department of Information Engineering, University of Pisa, Pisa, ItalySoft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, ItalySoft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, ItalySoft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, ItalySoft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, ItalySoft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, ItalyBrain Investigation and Neuromodulation Lab, Department of Medicine, Surgery and Neuroscience, University of Siena, Siena, ItalySiena Robotics and Systems Laboratory Group, Department of Information Engineering and Mathematical Science, University of Siena, Siena, ItalyUpper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance.https://www.frontiersin.org/articles/10.3389/frobt.2021.661354/fullassistive roboticswearable roboticsexoskeletonshuman-robot interfacesupper-limb impairments |
| spellingShingle | Gionata Salvietti Leonardo Franco Martin Tschiersky Gerjan Wolterink Matteo Bianchi Antonio Bicchi Federica Barontini Manuel Catalano Giorgio Grioli Mattia Poggiani Simone Rossi Domenico Prattichizzo Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System Frontiers in Robotics and AI assistive robotics wearable robotics exoskeletons human-robot interfaces upper-limb impairments |
| title | Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System |
| title_full | Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System |
| title_fullStr | Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System |
| title_full_unstemmed | Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System |
| title_short | Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System |
| title_sort | integration of a passive exoskeleton and a robotic supernumerary finger for grasping compensation in chronic stroke patients the softpro wearable system |
| topic | assistive robotics wearable robotics exoskeletons human-robot interfaces upper-limb impairments |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2021.661354/full |
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