Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients
Patients with hemiparesis often have limited functionality in the left or right hand. The standard therapeutic approach requires the patient to attempt to make use of the weak hand even though it is not functionally capable, which can result in feelings of frustration. Furthermore, hemiparetic patie...
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| Format: | Article |
| Language: | en_US |
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ASME International
2017
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| Online Access: | http://hdl.handle.net/1721.1/107262 https://orcid.org/0000-0002-8716-1039 https://orcid.org/0000-0002-3486-9658 https://orcid.org/0000-0003-3155-6223 |
| _version_ | 1826213762072313856 |
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| author | Ort, Moses Teddy Wu, Faye Y Hensel, Nicholas Charles Asada, Haruhiko |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Ort, Moses Teddy Wu, Faye Y Hensel, Nicholas Charles Asada, Haruhiko |
| author_sort | Ort, Moses Teddy |
| collection | MIT |
| description | Patients with hemiparesis often have limited functionality in the left or right hand. The standard therapeutic approach requires the patient to attempt to make use of the weak hand even though it is not functionally capable, which can result in feelings of frustration. Furthermore, hemiparetic patients also face challenges in completing many bimanual tasks, for example walker manipulation, that are critical to patients’ independence and quality of life. A prototype therapeutic device with two supernumerary robotic fingers was used to determine if robotic fingers could functionally assist a human in the performance of bimanual tasks by observing the pose of the healthy hand. Specific focus was placed on the identification of a straightforward control routine which would allow a patient to carry out simple manipulation tasks with some intermittent input from a therapist. Part of this routine involved allowing a patient to switch between active and inactive monitoring of hand position, resulting in additional manipulation capabilities. The prototype successfully enabled a test subject to complete various bimanual tasks using the robotic fingers in place of normal hand motions. From these results, it is clear that the device could allow a hemiparetic patient to complete tasks which would previously have been impossible to perform. |
| first_indexed | 2024-09-23T15:54:25Z |
| format | Article |
| id | mit-1721.1/107262 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:54:25Z |
| publishDate | 2017 |
| publisher | ASME International |
| record_format | dspace |
| spelling | mit-1721.1/1072622022-10-02T04:59:26Z Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients Ort, Moses Teddy Wu, Faye Y Hensel, Nicholas Charles Asada, Haruhiko Massachusetts Institute of Technology. Department of Mechanical Engineering Ort, Moses Teddy Wu, Faye Y Hensel, Nicholas Charles Asada, Haruhiko Patients with hemiparesis often have limited functionality in the left or right hand. The standard therapeutic approach requires the patient to attempt to make use of the weak hand even though it is not functionally capable, which can result in feelings of frustration. Furthermore, hemiparetic patients also face challenges in completing many bimanual tasks, for example walker manipulation, that are critical to patients’ independence and quality of life. A prototype therapeutic device with two supernumerary robotic fingers was used to determine if robotic fingers could functionally assist a human in the performance of bimanual tasks by observing the pose of the healthy hand. Specific focus was placed on the identification of a straightforward control routine which would allow a patient to carry out simple manipulation tasks with some intermittent input from a therapist. Part of this routine involved allowing a patient to switch between active and inactive monitoring of hand position, resulting in additional manipulation capabilities. The prototype successfully enabled a test subject to complete various bimanual tasks using the robotic fingers in place of normal hand motions. From these results, it is clear that the device could allow a hemiparetic patient to complete tasks which would previously have been impossible to perform. 2017-03-09T19:39:15Z 2017-03-09T19:39:15Z 2015-10 Article http://purl.org/eprint/type/ConferencePaper 978-0-7918-5725-0 http://hdl.handle.net/1721.1/107262 Ort, Teddy et al. “Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients.” ASME, 2015. V002T27A010. © 2015 by ASME https://orcid.org/0000-0002-8716-1039 https://orcid.org/0000-0002-3486-9658 https://orcid.org/0000-0003-3155-6223 en_US http://dx.doi.org/10.1115/DSCC2015-9945 Proceedings of the ASME 2015 Dynamic Systems and Control Conference Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf ASME International American Society of Mechanical Engineers (ASME) |
| spellingShingle | Ort, Moses Teddy Wu, Faye Y Hensel, Nicholas Charles Asada, Haruhiko Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title | Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title_full | Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title_fullStr | Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title_full_unstemmed | Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title_short | Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients |
| title_sort | supernumerary robotic fingers as a therapeutic device for hemiparetic patients |
| url | http://hdl.handle.net/1721.1/107262 https://orcid.org/0000-0002-8716-1039 https://orcid.org/0000-0002-3486-9658 https://orcid.org/0000-0003-3155-6223 |
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