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Design and Evaluation of an Actuated Exoskeleton for Examining Motor Control in Stroke Thumb.

Authors:
Furui Wang Christopher L Jones Milind Shastri Kai Qian Derek G Kamper Nilanjan Sarkar

Adv Robot 2016;30(3):165-177. Epub 2016 Mar 7.

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA 37212.

Chronic hand impairment is common following stroke. This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in examining motor control and hand rehabilitation. The ATX presented in this work aims to provide independent bi-directional actuation in each of the 5 degrees-of-freedom (DOF) of the thumb using a novel flexible shaft based mechanism that has 5 active DOF and 3 passive DOF. A prototype has been built and experiments have been conducted to measure the allowable workspace at the thumb and evaluate the kinematic and kinetic performance of the ATX. The experimental results show that the ATX is able to provide individual actuation at all 5 thumb joints with high joint velocity and torque capacities. Further improvement and future work are discussed.

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http://dx.doi.org/10.1080/01691864.2015.1105867DOI Listing
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5035118PMC
March 2016

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