NDLI: Using the robotic sixth finger and vibrotactile feedback for grasp compensation in chronic stroke patients

Content Provider	IEEE Xplore Digital Library
Author	Hussain, I. Salvietti, G. Meli, L. Pacchierotti, C. Cioncoloni, D. Rossi, S. Prattichizzo, D.
Copyright Year	2015
Description	Author affiliation: Dipt. di Sci. Mediche, Chirurgiche e Neuroscienze, UOC Neurologia e Neurofisiologia Clinica, Siena, Italy (Rossi, S.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy (Salvietti, G.) \|\| U.O.P. Professioni della Riabilitazione, Azienda Ospedaliera Univ. Senese, Siena, Italy (Cioncoloni, D.) \|\| Dept. of Inf. Eng. & Math., Univ. of Siena, Siena, Italy (Hussain, I.; Meli, L.; Pacchierotti, C.; Prattichizzo, D.)
Abstract	This paper presents a wearable robotic extra finger used by chronic stroke patients to compensate for the missing hand functions of the paretic limb. The extra finger is worn on the paretic forearm by means of an elastic band, and it is coupled with a vibrotactile ring interface worn on the healthy hand. The robotic finger and the paretic hand act like the two parts of a gripper working together to hold an object. The human user is able to control the flexion/extension of the robotic finger through a switch placed on the ring, while being provided with vibrotactile feedback about the forces exerted by the robotic finger on the environment. To understand how to control the vibrotactile interface to evoke the most effective cutaneous sensations, we carried out perceptual experiments to evaluate its absolute and differential thresholds. Finally, we performed a qualitative experiment, the Franchay Arm Test, with a chronic post-stroke patient presenting a partial loss of sensitivity on the paretic limb. Results show that the proposed system significantly improves the performance of the considered test.
Starting Page	67
Ending Page	72
File Size	586354
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281177
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Force Thumb Robot sensing systems Haptic interfaces
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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