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Technical Brief

Biologically Inspired Soft Robot for Thumb Rehabilitation1

[+] Author and Article Information
Paxton Maeder-York, Tyler Clites, Emily Boggs, Ryan Neff

Harvard School of Engineering and Applied Sciences,
29 Oxford Street,
Cambridge, MA 02138

Panagiotis Polygerinos

Harvard School of Engineering and Applied Sciences,
29 Oxford Street,
Cambridge, MA 02138;
Wyss Institute for Biologically Inspired Engineering,
Harvard University,
60 Oxford Street,
Cambridge, MA 02138

Dónal Holland

Harvard School of Engineering and Applied Sciences,
29 Oxford Street,
Cambridge, MA 02138;
Wyss Institute for Biologically Inspired Engineering,
Harvard University,
60 Oxford Street,
Cambridge, MA 02138

Leia Stirling, Kevin Galloway

Wyss Institute for Biologically Inspired Engineering,
Harvard University,
60 Oxford Street,
Cambridge, MA 02138

Catherine Wee

Spaulding Hospital for Continuing Medical Care,
1575 Cambridge Street,
Cambridge, MA 02138

Conor Walsh

Harvard School of Engineering and Applied Sciences,
29 Oxford Street,
Cambridge, MA 02138;
Wyss Institute for Biologically Inspired Engineering,
Harvard University,
60 Oxford Street,
Cambridge, MA 02138

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online April 28, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(2), 020933 (Apr 28, 2014) (3 pages) Paper No: MED-14-1060; doi: 10.1115/1.4027031 History: Received February 21, 2014; Revised March 03, 2014

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References

Kochanek, K. D., Xu, J., Murphy, S. L., Miniño, A. M., and Kung, H.-C., 2011, “Deaths: Final Data for 2009,” National Vital Statistics Reports, 60(3), DHHS Publication No. (PHS) 2012-1120.
Kang, Y. J., Park, H. K., Kim, H. J., Lim, T., Ku, J., Cho, S., Kim, S. I., and Park, E. S., 2012, “Upper Extremity Rehabilitation of Stroke: Facilitation of Corticospinal Excitability Using Virtual Mirror Paradigm,” J. Neuroeng. Rehabil., 9, p. 71. [CrossRef]
Lum, P. S., Godfrey, S. B., Brokaw, E. B., Holley, R. J., and Nichols, D., 2012, “Robotic Approaches for Rehabilitation of Hand Function After Stroke,” Am. J. Phys. Med. Rehabil., 91(11), pp. S242–S254. [CrossRef]
Cooper, R., Ohnabe, H., and Hobson, D., 2007, “Therapeutic Robots for Upper-Limb Movement,” An Introduction to Rehabilitation Engineering, CRC Press, Boca Raton, FL.
Aubin, P. M., Sallum, H., Walsh, C., Correia, A., Stirling, L., and Correia, A., 2013, “A Pediatric Robotic Thumb Exoskeleton for at-Home Rehabilitation,” IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, June 24–26. [CrossRef]

Figures

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Fig. 1

Thumb motion required for opposition grasp

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Fig. 2

Model of full rehabilitation device

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Fig. 3

Cross section of strain wrapped actuator

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Fig. 4

Actuator and thumb joint design layover: (a) 3 in. twist bend; (b) 0.5 in. twist extend; (c) 1.5 in. bend; (d) 0.5 in. extend; and (e) 1.5 in. bend

Grahic Jump Location
Fig. 5

The developed hand attachment with the incorporated segmented soft actuator

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