Underactuated Rehabilitation Robotics for Hand Function

Hand Rehabilitation Robotics on Poststroke Motor Recovery

The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers' view or on the training paradigms on the clinicians' ...

A compliant, underactuated hand for robust manipulation

This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of t...

Biomechanical Studies on Hand Function in Rehabilitation

Hand function requires interaction of muscles, tendons, bones, joints and nerves. The unique construction of the hand provides a wide range of important functions such as manipulation, sense of touch, communication and grip strength (Schieber and Santello 2004). The hand is used in many ways, and in many different situations in our daily lives; so injuries, diseases or deformities of the hand c...

Rehabilitation Robotics

Robotic approaches for rehabilitation of hand function after stroke.

The goal of this review was to discuss the impairments in hand function after stroke and present previous work on robot-assisted approaches to movement neurorehabilitation. Robotic devices offer a unique training environment that may enhance outcomes beyond what is possible with conventional means. Robots apply forces to the hand, allowing completion of movements while preventing inappropriate ...