تقرير
Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
| العنوان: | Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury |
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| المؤلفون: | Palacios, Joaquin, Deli-Ivanov, Alexandra, Chen, Ava, Winterbottom, Lauren, Nilsen, Dawn M., Stein, Joel, Ciocarlie, Matei |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel Throttle-based Wrist Angle control method, which allows users to maintain grasps without continued wrist extension. A pilot case study with a person with C6 spinal cord injury shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive wearable assistive devices for individuals with spinal cord injury. Comment: 6 pages, 8 figures, 1 table |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2402.08020 |
| رقم الأكسشن: | edsarx.2402.08020 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |