Development and Pilot Testing of HEXORR: Hand EXOskeleton Rehabilitation RobotBy Schabowsky, Christopher N.; Godfrey, Sasha B.; Holley, Rahsaan J.; Lum, Peter S.; Journal of NeuroEngineering and Rehabilitation, Vol. 7, No. 36
Publication Date: July 2010
Paper outlines the development of a robotic exoskeleton designed for rehabilitation of the hemiparetic hand following stroke. The Hand Exoskeleton Rehabilitation Robot (HEXORR) was designed to provide full range of motion (ROM) for all of the hand’s digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms were developed to improve the exoskeleton’s backdrivability by counteracting gravity and static and kinetic friction. A force assistance mode was also designed, providing extension assistance based on individual need. A pilot study was conducted with HEXORR using 9 participants without neurological impairments aged 23 to 57 years and 5 participants with stroke aged 33 to 62 years. For 12 of the 15 joints of the hand digits in neurologically normal participants, there were no significant ROM differences between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the first and third digits, and no differences were found between inside and outside of the device. Participants with stroke were able to perform free hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by about 43 percent and 24 percent for the fingers and thumb, respectively. Participants with stroke received the intervention well and device impedance was minimized so that they could freely extend and flex their digits inside of HEXORR. The active force-assisted condition was successful in increasing participants’ Rom while promoting active participation.
Published by: BioMed Central Ltd (Website:http://www.biomedcentral.com)
Link to text: http://www.jneuroengrehab.com/content/7/1/36