Posts Tagged wearable devices

[Abstract + References] A personalized flexible exoskeleton for finger rehabilitation: a conceptual design – Conference paper


Several robotic rehabilitation systems have already been developed for the hand requiring the biological joints to be aligned with those of the exoskeleton making the standardization of this devices for different anthropomorphic sizes almost impossible. This problem together with the usage of rigid components can affect the natural movement of the hand and injure the user. Moreover, these systems are also typically expensive and are designed for in-clinic use as they are generally not portable.

Biomimetic and bioinspired inspiration using soft robotics can solve these issues. This paper aims to introduce the conceptual design of a personalized flexible exoskeleton for finger rehabilitation modelled around one specific user’s finger with the help of a 3D scanning procedure presenting a dynamic FEM analysis and a preliminary prototype obtaining a low-cost and easy to use and wear device.


  1. 1.
    Abrahams, E., and Silver M. The case for personalized medicine. (2009), 680-684.CrossRefGoogle Scholar
  2. 2.
    Smith, Richard. “Stratified, personalised, or precision medicine.” BMJ 39 (2012), pp. 143-158.Google Scholar
  3. 3.
    Ueki, S., Nishimoto, Y., Abe, M., Kawasaki, H., Ito, S., Ishigure, Y., Mizumoto, J., Ojika, T, Development of virtual reality exercise of hand motion assist robot for rehabilitation therapy by patient self-motion control. in: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2008, (2008), pp. 4282–4285.Google Scholar
  4. 4.
    Jones, C.L., Wang, F., Morrison, R., Sarkar, N. and Kamper, D.G. Design and development of the cable actuated finger exoskeleton for hand rehabilitation following stroke, IEEE/ASME Transactions on Mechatronics, (2014), 19(1), pp.131-140.CrossRefGoogle Scholar
  5. 5.
    Rus, D., Tolley, M.T. Design, fabrication and control of soft robots. Nature, 521, (2015), pp. 467–475.CrossRefGoogle Scholar
  6. 6.
    Shahid, T., Gouwanda, D., Nurzaman, S.G., Gopalai, A.A. Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons.Biomimetics, 3(3), (2018), pp.17.CrossRefGoogle Scholar
  7. 7.
    Buchholz, B. and T. J. Armstrong, A kinematic model of the human hand to evaluate its prehensile capabilities, J Biomech, (1992), vol. 25, pp. 149-62.CrossRefGoogle Scholar
  8. 8.
    Zakia, H., Azlan, N.Z., Yusof, A.Z. Human hand motion analysis during different eating activities. Appl. Bionics Biomech., 12, (2018).Google Scholar
  9. 9.
    Meng, Q., Xiang, S. and Yu, H. Review and Challenges Surrounding the Technology, Advances in Engineering Research, vol. 86, (2017).Google Scholar
  10. 10.
    Polygerinos, P., Wang, Z., Galloway, K.C.l Wood, R.J., Walsh, C.J. Soft robotic glove for combined assistance and at-home rehabilitation. Robot. Auton. Syst. (2015), 73, 135–143.CrossRefGoogle Scholar
  11. 11.
    Polygerinos, P., Galloway, K.C., Sanan, S., Herman, M., Walsh, C.J. EMG Controlled Soft Robotic Glove for Assistance during Activities of Daily Living. In Proceedings of ICORR 2015, Singapore, 11–14 August, (2015), pp. 55–60.Google Scholar
  12. 12.
    Polygerinos, P., Lyne, S., Wang, Z., Nicolini, L.F., Mosadegh, B., Whitesides, G.M., Walsh, C.J. Towards a Soft Pneumatic Glove for Hand Rehabilitation. In IROS 2013, Tokyo, Japan, 3–7 November, (2013), pp. 1512–1517.Google Scholar
  13. 13.
    Yap, H.K., Kamaldin, N., Lim, J.H., Nasrallah, F.A., Goh, J.C., Yeow, C.H. A magnetic resonance compatible soft wearable robotic glove for hand rehabilitation and brain imaging. IEEE Trans. Neural Syst. Rehabil. Eng., (2017), 25, 782–793.CrossRefGoogle Scholar
  14. 14.
    Yap, H.K., Lim, J.H., Nasrallah, F., Cho Hong Goh, J., Yeow, C.H. Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications. J.Med. Eng. Technol., (2016), 40, 199–209.CrossRefGoogle Scholar
  15. 15.
    Yap, H.K., Lim, J.H., Nasrallah, F., Low, F.Z., Goh, J.C., Yeow, R.C. MRC-Glove. A fMRI Compatible Soft Robotic Glove for Hand Rehabilitation Application. In Proceedings of the 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 11–14 August, (2015), pp. 735–740.Google Scholar
  16. 16.
    Yap, H.K., Ang, B.W., Lim, J.H., Goh, J.C., Yeow, C.H. A Fabric-Regulated Soft Robotic Glove with User Intent Detection Using EMG and RFID for Hand Assistive Application. In Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16–21 May, (2016), pp. 3537–3542.Google Scholar
  17. 17.
    Yap, H.K., Lim, J.H., Nasrallah, F., Goh, J.C., Yeow, R.C. A Soft Exoskeleton for Hand Assistive and Rehabilitation Application Using Pneumatic Actuators with Variable Stiffness. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 26–30 May, (2015), pp. 4967–4972.Google Scholar
  18. 18.
    Yap, H.K., Lim, J.H., Nasrallah, F., Yeow, C.H. Design and preliminary feasibility study of a soft robotic glove for hand function assistance in stroke survivors. Front. Neurosci., (2017), 11, pp. 547.Google Scholar
  19. 19.
    Yap, H.K., Lim, J.H., Goh, J.C., Yeow, C.H. Design of a soft robotic glove for hand rehabilitation of stroke patients with clenched fist deformity using inflatable plastic actuators. J.Med. Devices, (2016), 10, 044504.CrossRefGoogle Scholar
  20. 20.
    Yap, H.K., Ng, H.Y., Yeow, C.H. High-force soft printable pneumatics for soft robotic applications. Soft Robot, (2016), 9, 3, 144–158.CrossRefGoogle Scholar
  21. 21.
    Yap, H.K., Goh, J.C., Yeow, R.C. Design and Characterization of Soft Actuator for Hand Rehabilitation Application. In Proceedings of the 6th European Conference of the International Federation for Medical and Biological Engineering, Dubrovnik, Croatia, 7–11 September 2014, Springer: Cham, Switzerland, (2015), pp. 367–370.Google Scholar
  22. 22.
    Kang, B.B., Lee, H., In, H., Jeong, U., Chung, J., Cho, K.J. Development of a Polymer-Based Tendon-Driven Wearable Robotic Hand. In Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16–21 May, (2016), pp. 3750–3755.Google Scholar
  23. 23.
    In, H., Kang, B.B., Sin, M. and Cho, K.J. Exo-Glove: a wearable robot for the hand with a soft tendon routing system. Robotics & Automation Magazine, (2015), 22(1), pp. 97-105.Google Scholar
  24. 24.
    Kang, B.B., In, H., Cho, K. Force Transmission in Joint-Less Tendon Driven Wearable Robotic Hand. In Proceedings of the 2012 12th International Conference on Control, Automation and Systems (ICCAS), Jeju Island, Korea, 17–21 October, (2012), pp. 1853–1858.Google Scholar
  25. 25.
    In, H., Cho, K.J. Evaluation of the Antagonistic Tendon Driven System for SNU Exo-Glove. In Proceedings of the 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju Island, Korea, 26–28 November, (2012), pp. 507–509.Google Scholar
  26. 26.
    In, H., Cho, K.J. Analysis of the forces on the finger joints by a joint-less wearable robotic hand, SNU Exo-Glove. In Converging Clinical and Engineering Research on Neurorehabilitation, Springer: Berlin/Heidelberg, Germany, (2013), pp. 93–97.CrossRefGoogle Scholar
  27. 27.
    Netter, F.H. Atlas of Human Anatomy. Elsevier Health Sciences, (2017), pp. 451.Google Scholar
  28. 28.
    Károly János, B., Ákos, J. and Károly, B. Force measurement of hand and fingers. Biomechanica Hungarica 3.1, 2010.Google Scholar
  29. 29.
    Cafolla, D. Ceccarelli, M., Wang, M.F, Carbone, G. 3D printing for feasibility check of mechanism design, International Journal of Mechanics and Control, (2016), (17)1, 2016, pp. 3-12.Google Scholar

via A personalized flexible exoskeleton for finger rehabilitation: a conceptual design | SpringerLink


, , , , , , , ,

Leave a comment

[Abstract] Feasibility and efficacy of wearable devices for upper limb rehabilitation in patients with chronic stroke: a randomized controlled pilot study

Wearable devices based on inertial measurement units through wireless sensor networks have many applications such as real-time motion monitoring and functional outcome assessment of stroke rehabilitation. However, additional investigations are warranted to validate their clinical value, particularly in detecting the synergy patterns of movements after stroke.To explore the feasibility and efficacy of wearable devices for upper limb rehabilitation in patients with chronic stroke and to compare the intervention effects (e.g., neurological recovery, active range of motion, and deviation angle) with those in a control group.A single-blind, randomized-controlled pilot study.Rehabilitation ward.A total of 18 patients with chronic stroke were randomly distributed into a device group and control group. Both groups received conventional rehabilitation; nevertheless, the device group was additionally subjected to 15 daily sessions at least three times a week for 5 weeks. The outcome measures included the upper extremity subscores of the Fugl-Meyer assessment, active range of motion, and deviation angle. These measurements were performed pre- and post-treatment.All five Fugl-Meyer assessment subscores improved in both the device and control groups after intervention; in particular, the “shoulder/elbow/forearm” subscore (p = 0.02, 0.03) and “total score” (p = 0.03, 0.03) substantially improved. The active range of motion of shoulder flexion and abduction substantially improved at pre-post treatment in both the device (p = 0.02, 0.03) and control (p = 0.02, 0.03) groups. The deviation angle of shoulder external rotation during shoulder abduction substantially improved in the device group (p = 0.02), but not in the control group.The designed wearable devices are practical and efficient for use in chronic patients with stroke.Wearable devices are expected to be useful for future internet-of-things rehabilitation clinical trials at home and in long-term care institutions.

Source: Feasibility and efficacy of wearable devices for upper limb rehabilitation in patients with… – Abstract – Europe PMC

, , , , ,

Leave a comment

[Abstract] Delivering Remote Rehabilitation at Home: An Integrated Physio-Neuro Approach to Effective and User Friendly Wearable Devices – SpringerLink


There is a global shortage of manpower and technology in rehabilitation to attend to the five million new patients who are left disabled every year with stroke. Neuroplasticity is increasingly recognized to be a primary mechanism to achieve significant motor recovery. However, most rehabilitation devices either limit themselves to mechanical repetitive movement practice at a limb level or focus only on cognitive tasks. This may result in improvements in impairment but seldom translates into effective limb and hand use in daily activities. This paper presents an easy-to-use, wearable upper limb system, SynPhNe (pronounced like “symphony”), which trains brain and muscle as one system employing neuroplasticity principles. A summary of clinical results with stroke patients is presented. A new, wireless, home-use version of the solution architecture has been proposed, which can make it possible for patients to do guided therapy at home and thus have access to more therapy hours.

Source: Delivering Remote Rehabilitation at Home: An Integrated Physio-Neuro Approach to Effective and User Friendly Wearable Devices | SpringerLink

, , , , ,

Leave a comment

[WEB SITE] The Rehabilitation Gaming System – NEURO-REHABILITATION | SPECS – Synthetic, Perceptive, Emotive and Cognitive Systems group

The Rehabilitation Gaming System is a novel technology for Neuro-Rehabilitation that assists in the recovery of function after lesions to the brain. RGS is based on concrete neuroscientific principles of brain mechanisms of function in health and disease. RGS was initially developed via the project 

Image: Extension of brain damage after stroke.

Image: A stroke patient trains with RGS under the supervision of her physician/physioterapist at Val d’Hebron Hospital in Barcelona. Stroke can cause brain damage with loss of motor and cognitive functions. The efficacy of RGS in the recovery of these functions has been clinically tested with hundreds of patients. RGS is based on the neurobiological considerations that plasticity of the brain remains throughout life and therefore can be utilized to achieve functional reorganization of the brain areas affected by stroke.







RGS was developed by combining the idea of interactive media use for neurorehabilitation, in particular virtual reality, with the DAC theory of mind and brain. This decision was a key step in the realization of RGS since it made choices on the content of non-arbitrary treatment protocols and every intervention became a well defined interaction with a user from which lessons could be immediately drawn. By now RGS incorporates about 20 specific DAC derived principles that range from the key role of sensori-motor contingencies in organizing cognition and action (see Prochnow, D. et al., Eur. J. of Neurosc. 2013) to the importance of goal-oriented and error-driven intervention. (see Belen Rubio Ballestr et al., J. NeuroEng. Rehab. 2015)

RGS has advanced over the last decade with an extensive experimental agenda realized with dedicated partners in Barcelona 

To support our experimental studies we have installed RGS therapy stations which are in continuous use in associated hospitals (see collaborators below). As a result, RGS has build up an unprecedented empirical track record (see key references sbelow) having been tested with over 500 patients at the acute and chronic stages of stroke, including at home settings. Building on these results, together with our clinical partners, we are now validating the generalization of RGS to other neuropathologies such as Parkinson’s disease, cerebral palsy, traumatic brain injury and spinal cord lesions and the initial analysis looks very encouraging.

Many of the patients in our clinical experiments have asked to be able to continue the RGS therapy.

This demand combined with the clinical results that show that RGS is more effective than any other intervention available today, has lead to the creation of the spin-off company together with the University Pompeu Fabra and the Catalan Institute of Advanced Studies. Eodyne’s goal is to make RGS available to as many people as possible for a minimum cost.

Schematic representation of the RGS platform: from the laboratory to the patient @clinic and @home


The SPECS laboratory lead by prof. Paul Verschure collaborates with Hospital la Esperanza, in particular with Dr Ester Duarte and “TiC Salut Foundation” a catalan agency that is part of the Ministry of Health.

For more visit —> NEURO-REHABILITATION | SPECS – Synthetic, Perceptive, Emotive and Cognitive Systems group

, , , , , , , , , , ,

Leave a comment

[WEB SITE] NYU Students Invent Smartphone-Based Stroke Rehab Devices – Rehab Managment

Using smartphone-enabled technology attached to garments, invented by students from the NYU Tandon School of Engineering, stroke recovery could be more like a game than an arduous task.

The wearable mechatronic devices—including a jacket to measure arm placement, a glove to measure wrist and finger placement and finger joint angles, and a finger trainer built of hand-friendly, compliant material—are all connected by a smartphone.




When a patient performs an assigned therapeutic exercise, microcontrollers within the devices measure such information as grip strength and display it via the smartphone to both the patient and the medical provider.

The activity can then turn into a virtual reality game in which the patient observes the performance of the unaffected side of the body and tries to mimic the activity on the affected side of the body, explains a media release from NYU Tandon School of Engineering.

The team that invented the devices includes NYU Tandon Professor of Mechanical and Aerospace Engineering Vikram Kapila, who guided the students; Preeti Raghavan, MD, of NYU Langone’s Rusk Rehabilitation Ambulatory Care Center; Ashwin Raj Kumar, a doctoral student in mechanical and aerospace engineering; and Sai Prasanth Krishnamoorthy, a master’s degree student in mechatronics and robotics engineering.

The patent-pending devices were recently awarded third place in BMEidea, a competition for biomechanical and bioengineering students, per the release.

“Smartphone-integrated stroke rehabilitation is a marked improvement over the conventional treatment programs of the past,” says Kapila, who oversees NYU Tandon’s Mechanotronics Lab, in the release.

“The medical community acknowledges that while the central nervous system is highly adaptive and has the ability to regain functions with concerted effort, a patient must assiduously practice those regained skills. This makes stroke rehab a long and sometimes trying ordeal. Providing patients with immediate feedback and placing that feedback in the context of a virtual reality game that they can use within their own homes is definitely encouraging and motivational,” he adds.

[Source(s): NYU Tandon School of Engineering, PR Newswire]

Source: NYU Students Invent Smartphone-Based Stroke Rehab Devices – Rehab Managment

, , , , ,

Leave a comment

%d bloggers like this: