NDLI: An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation

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An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Leonardis, D. Barsotti, M. Loconsole, C. Solazzi, M. Troncossi, M. Mazzotti, C. Castelli, V.P. Procopio, C. Lamola, G. Chisari, C. Bergamasco, M. Frisoli, A.
Copyright Year	2008
Abstract	This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.
Sponsorship	IEEE Computer Society
Starting Page	140
Ending Page	151
Page Count	12
File Size	1986975
File Format	PDF
ISSN	19391412
Volume Number	8
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Electromyography Training Force Exoskeletons Robot sensing systems L.3.0 Integrating touchbased interactions into various domains Assistive technology L.3.0.l Rehabilitation L.1 Human Haptics I.2.9 Robotics L.1.0.b Biomechanics C.2.0.c Emerging technologies H.1.2 User/Machine Systems H.1.2.b Human-centere d computing H.5.2.g Haptic I/O J.3.b Health Integrating touch-based interactions into various domains Assistive technology Rehabilitation Human Haptics Robotics Biomechanics Emerging technologies User/Machine Systems Human-centered computing Haptic I/O Health
Content Type	Text
Resource Type	Article
Subject	Human-Computer Interaction Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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