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dc.contributor.author
Lambelet, Charles
dc.contributor.author
Temiraliuly, Damir
dc.contributor.author
Siegenthaler, Marc
dc.contributor.author
Wirth, Marc
dc.contributor.author
Woolley, Daniel G.
dc.contributor.author
Lambercy, Olivier
dc.contributor.author
Gassert, Roger
dc.contributor.author
Wenderoth, Nicole
dc.date.accessioned
2020-10-19T11:37:46Z
dc.date.available
2020-10-17T02:50:36Z
dc.date.available
2020-10-19T11:37:46Z
dc.date.issued
2020
dc.identifier.issn
1743-0003
dc.identifier.other
10.1186/s12984-020-00749-4
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/446446
dc.identifier.doi
10.3929/ethz-b-000446446
dc.description.abstract
Background Chronic hand and wrist impairment are frequently present following stroke and severely limit independence in everyday life. The wrist orientates and stabilizes the hand before and during grasping, and is therefore of critical importance in activities of daily living (ADL). To improve rehabilitation outcomes, classical therapy could be supplemented by novel therapies that can be applied in unsupervised settings. This would enable more distributed practice and could potentially increase overall training dose. Robotic technology offers new possibilities to address this challenge, but it is critical that devices for independent training are easy and appealing to use. Here, we present the development, characterization and wearability evaluation of a fully portable exoskeleton for active wrist extension/flexion support in stroke rehabilitation. Methods First we defined the requirements, and based on these, constructed the exoskeleton. We then characterized the device with standardized haptic and human-robot interaction metrics. The exoskeleton is composed of two modules placed on the forearm/hand and the upper arm. These modules weigh 238 g and 224 g, respectively. The forearm module actively supports wrist extension and flexion with a torque up to 3.7 Nm and an angular velocity up to 530 deg/s over a range of 154∘. The upper arm module includes the control electronics and battery, which can power the device for about 125 min in normal use. Special emphasis was put on independent donning and doffing of the device, which was tested via a wearability evaluation in 15 healthy participants and 2 stroke survivors using both qualitative and quantitative methods. Results All participants were able to independently don and doff the device after only 4 practice trials. For healthy participants the donning and doffing process took 61 ±15 s and 24 ±6 s, respectively. The two stroke survivors donned and doffed the exoskeleton in 54 s/22 s and 113 s/32 s, respectively. Usability questionnaires revealed that despite minor difficulties, all participants were positive regarding the device. Conclusions This study describes an actuated wrist exoskeleton which weighs less than 500 g, and which is easy and fast to don and doff with one hand. Our design has put special emphasis on the donning aspect of robotic devices which constitutes the first barrier a user will face in unsupervised settings. The proposed device is a first and intermediate step towards wearable rehabilitation technologies that can be used independently by the patient and in unsupervised settings.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
BioMed Central
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Wearable exoskeleton
en_US
dc.subject
Wrist
en_US
dc.subject
Stroke
en_US
dc.subject
Robotic rehabilitation
en_US
dc.subject
Home-based
en_US
dc.subject
Wearability/usability evaluation
en_US
dc.subject
Donning/doffing
en_US
dc.subject
Unsupervised training
en_US
dc.subject
Admittance control
en_US
dc.subject
eWrist
en_US
dc.title
Characterization and wearability evaluation of a fully portable wrist exoskeleton for unsupervised training after stroke
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
dc.date.published
2020-10-07
ethz.journal.title
Journal of NeuroEngineering and Rehabilitation
ethz.journal.volume
17
en_US
ethz.journal.issue
1
en_US
ethz.journal.abbreviated
J. neuroeng. rehabilitat.
ethz.pages.start
132
en_US
ethz.size
16 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
London
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::02535 - Institut für Bewegungswiss. und Sport / Institut of Human Movement Sc. and Sport::03963 - Wenderoth, Nicole / Wenderoth, Nicole
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
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::02535 - Institut für Bewegungswiss. und Sport / Institut of Human Movement Sc. and Sport::03963 - Wenderoth, Nicole / Wenderoth, Nicole
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
ethz.date.deposited
2020-10-17T02:50:42Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2020-10-19T11:37:58Z
ethz.rosetta.lastUpdated
2021-02-15T18:32:28Z
ethz.rosetta.versionExported
true
ethz.COinS
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