Understanding Technology-Induced Compensation: Effects of a Wrist-Constrained Robotic Hand Orthosis on Grasping Kinematics
METADATA ONLY
Loading...
Author / Producer
Date
2021-07-02
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
Altmetric
METADATA ONLY
Data
Rights / License
Abstract
Robotic hand orthoses have the potential of supporting grasp function of people with sensorimotor impairments. To achieve lightweight and simple solutions, most devices focus on supporting only a subset of the functional abilities of the hand. This study investigates the effect of such a design trade-off in a wrist-constrained robotic hand orthosis and its effects on upper limb kinematics and grasping abilities of seven able-bodied subjects. Using wearable, inertial sensors on hand, arm, and shoulder we quantified how a reduction of degrees of freedom affected movement strategies in eleven grasping tasks. This analysis helps to understand how simplified design solutions may affect movement patterns of the target end-users, depending on their residual level of functionality. Also, this further highlights the issue of usability-related design trade-offs between compact and lightweight solutions, and more complex multi-degree of freedom devices.
Permanent link
Publication status
published
External links
Book title
Wearable Robotics: Challenges and Trends
Journal / series
Volume
27
Pages / Article No.
429 - 433
Publisher
Springer
Event
5th International Symposium on Wearable Robotics (WeRob2020) and of WearRAcon Europe 2020
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
hand exoskeleton; compensation; Degrees of freedom; usability
Organisational unit
03827 - Gassert, Roger / Gassert, Roger