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dc.contributor.author
Bützer, Tobias
dc.contributor.author
Lambercy, Olivier
dc.contributor.author
Arata, Jumpei
dc.contributor.author
Gassert, Roger
dc.date.accessioned
2021-04-23T12:42:40Z
dc.date.available
2020-06-22T19:23:29Z
dc.date.available
2020-06-23T11:55:33Z
dc.date.available
2021-04-23T12:42:40Z
dc.date.issued
2021-04
dc.identifier.issn
2169-5172
dc.identifier.issn
2169-5180
dc.identifier.other
10.1089/soro.2019.0135
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/421745
dc.description.abstract
Worldwide, over 50 million people suffer from persistent hand impairments after stroke or spinal cord injury (SCI). This results in major loss of independence and quality of life. Robotic hand exoskeletons can compensate for lost motor function and assist in grasping tasks performed in everyday activities. Several recent prototypes can partially provide this assistance. However, it remains challenging to integrate the dexterity required for daily tasks in a safe and user-friendly design that is acceptable for daily use in subjects with neuromotor hand impairments. We present the design of RELab tenoexo; a fully wearable assistive soft hand exoskeleton for daily activities. We present sleek mechanisms for a hand module that generates the four most frequently used grasp types, employing a remote actuation system that reduces weight on the hand. For optimal assistance and highest adaptability, we present various design and control options to customize the modular device, along with an automated tailoring algorithm that allows automatically generated hand modules for individual users. Mechanical evaluation shows that RELab tenoexo covers the range of motion and the fingertip forces required to assist users in up to 80% of all grasping activities. In user tests, we find that the low weight, unintrusive size, high wearing comfort, and appealing appearance are beneficial for user acceptance and usability in daily life. Finally, we demonstrate that RELab tenoexo leads to an immediate improvement of the functional grasping ability in a subject with SCI. © 2021 Mary Ann Liebert, Inc.
en_US
dc.language.iso
en
en_US
dc.publisher
Mary Ann Liebert
en_US
dc.subject
wearable robot
en_US
dc.subject
hand exoskeleton
en_US
dc.subject
compliant structure
en_US
dc.subject
assistive technology
en_US
dc.subject
soft robot
en_US
dc.title
Fully Wearable Actuated Soft Exoskeleton for Grasping Assistance in Everyday Activities
en_US
dc.type
Journal Article
dc.date.published
2020-06-18
ethz.journal.title
Soft Robotics
ethz.journal.volume
8
en_US
ethz.journal.issue
2
en_US
ethz.journal.abbreviated
Soft robotics
ethz.pages.start
128
en_US
ethz.pages.end
143
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New Rochelle, NY
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03827 - Gassert, Roger / Gassert, Roger
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02070 - Dep. Gesundheitswiss. und Technologie / Dep. of Health Sciences and Technology::03827 - Gassert, Roger / Gassert, Roger
en_US
ethz.date.deposited
2020-06-22T19:24:00Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-04-23T12:42:51Z
ethz.rosetta.lastUpdated
2022-03-29T06:44:25Z
ethz.rosetta.versionExported
true
ethz.COinS
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