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A pediatric robotic thumb exoskeleton for at-home rehabilitation The isolated orthosis for thumb actuation(IOTA)

International Journal of Intelligent Computing and Cybernetics 2014年第3期7卷 233-252页

作者： Patrick Aubin Kelsey Petersen Hani Sallum Conor Walsh Annette Correia leia stirling Rehabilitation and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering VA Puget Sound Health Care SystemSeattleWashingtonUSA Wyss Institute for Biologically Inspired Engineering Harvard UniversityBostonMassachusettsUSA Boston Children’s Hospital BostonMassachusettsUSA Wyss Institute for Biologically Inspired Engineering Harvard UniversityBostonMassachusettsUSA and Massachusetts Institute of TechnologyCambridgeMassachusettsUSA

Purpose–Pediatric disorders,such as cerebral palsy and stroke,can result in thumb-in-palm deformity greatly limiting hand *** not only limits children’s ability to perform activities of daily living but also limits important motor skill ***,the isolated orthosis for thumb actuation(IOTA)is 2 degrees of freedom(DOF)thumb exoskeleton that can actuate the carpometacarpal(CMC)and metacarpophalangeal(MCP)joints through ranges of motion required for activities of daily *** paper aims to discuss these ***/methodology/approach–IOTA consists of a lightweight hand-mounted mechanism that can be secured and aligned to individual *** mechanism is actuated via flexible cables that connect to a portable control *** encoders and bend sensors monitor the 2 DOF of the thumb and flexion/extension of the wrist.A linear force characterization was performed to test the mechanical efficiency of the cable-drive transmission and the output torque at the exoskeletal CMC and MCP joints was ***–Using this platform,a number of control modes can be implemented that will enable the device to be controlled by a patient to assist with opposition grasp and fine motor *** force and torque studies showed a maximum efficiency of 44 percent,resulting in a torque of 2.3971.06 in.-lbf and 0.6970.31 in.-lbf at the CMC and MCP joints,*** implications–The authors envision this at-home device augmenting the current in-clinic and at-home therapy,enabling telerehabilitation ***/value–This paper presents the design and characterization of a novel device specifically designed for pediatric grasp telerehabilitation to facilitate improved functionality and somatosensory learning。

关键词： Pediatric Exoskeleton At-home hand rehabilitation Rehabilitation robotics Thumb

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