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A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients

  • Irfan HussainEmail author
  • Gionata Salvietti
  • Giovanni Spagnoletti
  • David Cioncoloni
  • Simone Rossi
  • Domenico Prattichizzo
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)

Abstract

In this paper, we present the combination of the Soft-SixthFinger, a wearable robotic extra-finger designed to be used by chronic stroke patients to compensate for the missing hand function, with a robotic arm that is used as an assistive device to support the patient arm. The extra-finger is a tendon-driven modular structure worn at the paretic forearm. The robotic extra-finger is used jointly with the paretic hand/arm to grasp an object similarly to the two parts of a robotic gripper. The flexion/extension of the robotic finger is controlled by the patient using an Electromyography (EMG) interface embedded in a cap. The robotic arm is controlled to partially compensate for the weight of the paretic arm, while not interfering with the user arm motion. The system has been designed as a tool that can be used by chronic stroke patients to compensate for grasping in many Activities of Daily Living (ADL). We performed a pilot test to demonstrate that the proposed system can significantly improve the performance and the autonomy in ADL.

Keywords

Gravity Compensation Frontalis Muscle Paretic Limb Chronic Stroke Patient Flexible Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Irfan Hussain
    • 1
    Email author
  • Gionata Salvietti
    • 1
    • 2
  • Giovanni Spagnoletti
    • 1
  • David Cioncoloni
    • 3
  • Simone Rossi
    • 3
  • Domenico Prattichizzo
    • 1
    • 2
  1. 1.Dipartimento di Ingegneria dell’InformazioneUniversità degli Studi di SienaSienaItaly
  2. 2.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenoaItaly
  3. 3.Dipartimento di Scienze Neurologiche e NeurosensorialiAzienda Ospedaliera Universitaria SeneseSienaItaly

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