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A Magnetic Resonance Compatible Soft Wearable Robotic Glove for Hand Rehabilitation and Brain Imaging

Published on Jun 1, 2017in IEEE Transactions on Neural Systems and Rehabilitation Engineering3.48
· DOI :10.1109/TNSRE.2016.2602941
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Nazir Kamaldin4
Estimated H-index: 4
(NUS: National University of Singapore)
+ 3 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
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Abstract
In this paper, we present the design, fabrication and evaluation of a soft wearable robotic glove, which can be used with functional Magnetic Resonance imaging (fMRI) during the hand rehabilitation and task specific training. The soft wearable robotic glove, called MR-Glove, consists of two major components: a) a set of soft pneumatic actuators and b) a glove. The soft pneumatic actuators, which are made of silicone elastomers, generate bending motion and actuate finger joints upon pressurization. The device is MR-compatible as it contains no ferromagnetic materials and operates pneumatically. Our results show that the device did not cause artifacts to fMRI images during hand rehabilitation and task-specific exercises. This study demonstrated the possibility of using fMRI and MR-compatible soft wearable robotic device to study brain activities and motor performances during hand rehabilitation, and to unravel the functional effects of rehabilitation robotics on brain stimulation.
  • References (54)
  • Citations (17)
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References54
Newest
Published on Jul 1, 2016 in ICRA (International Conference on Robotics and Automation)
Ran Xu4
Estimated H-index: 4
(Lawson Health Research Institute),
Aaron Yurkewich3
Estimated H-index: 3
(UWO: University of Western Ontario),
Rajnikant V. Patel3
Estimated H-index: 3
(Lawson Health Research Institute)
Due to their small size and flexibility, fiber Bragg grating (FBG) sensors have been integrated into needle-sized continuum robots for shape estimation and force measurement. The challenge in extending previous shape and force sensing technologies to pre-curved continuum robots, such as concentric-tube robots, is that torsion information is essential for accurate shape estimation, and the force-strain relationship is nonlinear. In this letter, a novel helically wrapped FBG sensor design and corr...
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
+ 2 AuthorsChen-Hua Yeow15
Estimated H-index: 15
(NUS: National University of Singapore)
Various hand exoskeletons have been proposed for the purposes of providing assistance in activities of daily living and rehabilitation exercises. However, traditional exoskeletons are made of rigid components that impede the natural movement of joints and cause discomfort to the user. This paper evaluated a soft wearable exoskeleton using soft elastomeric actuators. The actuators could generate the desired actuation of the finger joints with a simple design. The actuators were characterised in t...
Published on Dec 1, 2015in IEEE-ASME Transactions on Mechatronics4.94
Fabrizio Sergi13
Estimated H-index: 13
(Rice University),
Andrew Erwin6
Estimated H-index: 6
(Rice University),
Marcia K. O'Malley24
Estimated H-index: 24
(Rice University)
This paper describes the mechatronic design and characterization of a novel MR-compatible actuation system designed for a parallel force-feedback exoskeleton for measurement and/or assistance of wrist pointing movements during functional neuroimaging. The developed actuator is based on the interposition of custom compliant elements in series between a nonbackdrivable MR-compatible ultrasonic piezoelectric motor and the actuator output. The inclusion of physical compliance allows estimation of in...
Published on Dec 1, 2015in The International Journal of Robotics Research6.13
Priyanshu Agarwal7
Estimated H-index: 7
(University of Texas at Austin),
Jonas Fox3
Estimated H-index: 3
(University of Texas at Austin)
+ 2 AuthorsAshish D. Deshpande11
Estimated H-index: 11
(University of Texas at Austin)
Rehabilitation of the hands is critical for the restoration of independence in activities of daily living for individuals exhibiting disabilities of the upper extremities. There is initial evidence that robotic devices with force-control-based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this work, we present a novel index finger exoskeleton with Bowden-...
Published on Nov 1, 2015in Robotics and Autonomous Systems2.93
Panagiotis Polygerinos16
Estimated H-index: 16
(Harvard University),
Zheng Wang13
Estimated H-index: 13
(Harvard University)
+ 2 AuthorsConor J. Walsh31
Estimated H-index: 31
(Harvard University)
This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability...
Published on Aug 1, 2015
Andrew Erwin6
Estimated H-index: 6
(Rice University),
Marcia K. O'Malley24
Estimated H-index: 24
(Rice University)
+ 1 AuthorsFabrizio Sergi13
Estimated H-index: 13
(Rice University)
This paper presents the MR-SoftWrist: a parallel 3DOF MR-compatible wrist robot with compliant actuation. Through a design that aligns the wrist joint axes to the device DOFs and uses custom MR-compatible force-feedback actuation, the MR-SoftWrist can measure and support wrist movements during fMRI. The device has a circular workspace for wrist flexion/extension and radial/ulnar deviation with 18 deg radius, and is capable of generating 1.75 Nm joint torque. Control experiments validate the devi...
Published on Jun 1, 2015in IEEE Transactions on Robotics6.48
Panagiotis Polygerinos16
Estimated H-index: 16
(Harvard University),
Zheng Wang13
Estimated H-index: 13
(HKU: University of Hong Kong)
+ 4 AuthorsConor J. Walsh31
Estimated H-index: 31
(Harvard University)
Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-stat...
Published on May 1, 2015 in ICRA (International Conference on Robotics and Automation)
Hong Kai Yap8
Estimated H-index: 8
(NUS: National University of Singapore),
Jeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
+ 2 AuthorsRaye Chen Hua Yeow4
Estimated H-index: 4
(NUS: National University of Singapore)
In this paper, we present the design of a soft wearable exoskeleton that comprises of a glove embedded with pneumatic actuators of variable stiffness for hand assistive and rehabilitation application. The device is lightweight and easily wearable due to the usage of soft pneumatic actuators. A key feature of the device is the variable stiffness of the actuators at different localities that not only conform to the finger profile during actuation, but also provides customizability for different ha...
Published on May 1, 2015 in ICRA (International Conference on Robotics and Automation)
Panagiotis Polygerinos16
Estimated H-index: 16
(Wyss Institute for Biologically Inspired Engineering),
Kevin C. Galloway15
Estimated H-index: 15
(Wyss Institute for Biologically Inspired Engineering)
+ 3 AuthorsConor J. Walsh31
Estimated H-index: 31
(Wyss Institute for Biologically Inspired Engineering)
This paper presents advancements in the design of a portable, soft robotic glove for individuals with functional grasp pathologies. The robotic glove leverages soft material actuator technology to safely distribute forces along the length of the finger and provide active flexion and passive extension. These actuators consist of molded elastomeric bladders with anisotropic fiber reinforcements that produce specific bending, twisting, and extending trajectories upon fluid pressurization. In partic...
Published on May 1, 2015in Journal of Hand Surgery (European Volume)2.23
Gregory I. Bain9
Estimated H-index: 9
,
N. Polites1
Estimated H-index: 1
(Westmead Hospital)
+ 2 AuthorsAleksandra M. McGrath6
Estimated H-index: 6
(Umeå University)
The purpose of this study was to measure the functional range of motion of the finger joints needed to perform activities of daily living. Using the Sollerman hand grip function test, 20 activities ...
Cited By17
Newest
Published on Jul 17, 2019in NeuroImage5.81
Fatima A. Nasrallah14
Estimated H-index: 14
(UQ: University of Queensland),
Abdalla Z. Mohamed1
Estimated H-index: 1
(UQ: University of Queensland)
+ 3 AuthorsJeong Hoon Lim7
Estimated H-index: 7
(NUS: National University of Singapore)
Abstract Soft robotics have come to the forefront of devices available for rehabilitation following stroke; however, objective evaluation of the specific brain changes following rehabilitation with these devices is lacking. In this study, we utilized functional Magnetic Resonance Imaging (fMRI) and dynamic causal modeling (DCM) to characterize the activation of brain areas with a MRI compatible glove actuator compared to the conventional manual therapy. Thirteen healthy volunteers engaged in a m...
Published on Jul 1, 2019in International Journal of Mechanical Sciences4.13
Jiangbei Wang (SJTU: Shanghai Jiao Tong University), Yanqiong Fei (SJTU: Shanghai Jiao Tong University)
Abstract This paper presents model-based design of a Pneumatic Soft Stepper Motor (PSSM). This motor is inspired by the conventional electromagnetic stepper motors and the Wankel rotary engines, leveraging the principles of pole difference and pressure eccentricity. It is actuated by sequential inflation and deflation of the soft chambers on inner circumference of the stator to apply eccentric pressure on teeth of the rotor, and thus to produce the rotation torque. From equilibrium of the drive ...
Published on Jan 1, 2019
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.
Published on Jan 17, 2019in International Journal of Social Robotics2.30
Jun Zhang7
Estimated H-index: 7
(SEU: Southeast University),
Hui Zhang1
Estimated H-index: 1
(SEU: Southeast University)
+ 3 AuthorsAiguo Song24
Estimated H-index: 24
(SEU: Southeast University)
With the heavy use of consumer electronic devices (CEDs) like smartphones, laptops, etc. in daily life, more and more people feel head, neck, and back pains because of long time poor body postures during the use of these devices. This paper presents a “patients–robots–doctors” architecture and designs a wearable robotic system for body postures monitoring, correction, and rehabilitation assist. The system mainly includes a wearable robotic device (WRD) and the CEDs. The WRD monitors the postures...
Xiaoyu Liu5
Estimated H-index: 5
(Beihang University),
Yuanjie Zhu (Beihang University)+ 7 AuthorsZeping Lv
Impaired motor function is a common consequence of upper motor neuron lesions (UMNLs). Fine motor skills involved in small movements occurring in the fingers, hand, and wrist are usually regained by patient self-training at home. Most studies focus on the rehabilitation of the fingers but ignore the recovery of wrist motor function. In this paper, three virtual guiding tasks were designed to assess wrist motor functions, including the basic motor flexibility, motion stability, and a range of act...
Published on Dec 10, 2018in Journal of Mechanisms and Robotics2.38
Jiangbei Wang (SJTU: Shanghai Jiao Tong University), Zhaoyu Liu (SJTU: Shanghai Jiao Tong University), Yanqiong Fei (SJTU: Shanghai Jiao Tong University)
Published on Dec 1, 2018in Journal of Neuroengineering and Rehabilitation3.58
Chia-Ye Chu1
Estimated H-index: 1
(University of North Texas Health Science Center),
Rita M. Patterson32
Estimated H-index: 32
(University of North Texas Health Science Center)
Introduction The debilitating effects on hand function from a number of a neurologic disorders has given rise to the development of rehabilitative robotic devices aimed at restoring hand function in these patients. To combat the shortcomings of previous traditional robotics, soft robotics are rapidly emerging as an alternative due to their inherent safety, less complex designs, and increased potential for portability and efficacy. While several groups have begun designing devices, there are few ...
Published on Nov 1, 2018in Advanced Engineering Materials2.91
Kihyeon Kim1
Estimated H-index: 1
,
Kyeong Ho Cho6
Estimated H-index: 6
+ 10 AuthorsHyungpil Moon14
Estimated H-index: 14
Published on Jul 18, 2018in Biomimetics
Talha Shahid , Darwin Gouwanda7
Estimated H-index: 7
+ 1 AuthorsAlpha Agape Gopalai6
Estimated H-index: 6
Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frame...