Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation

Simple item page
dc.citation.firstpage720en_US
dc.citation.journalTitle2017 International Conference on Rehabilitation Robotics (ICORR)en_US
dc.citation.lastpage725en_US
dc.contributor.authorPezent, Evanen_US
dc.contributor.authorRose, Chad G.en_US
dc.contributor.authorDeshpande, Ashish D.en_US
dc.contributor.authorO’Malley, Marcia K.en_US
dc.date.accessioned2018-07-03T16:08:36Zen_US
dc.date.available2018-07-03T16:08:36Zen_US
dc.date.issued2017en_US
dc.description.abstractRobotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to facilitate donning and doffing for impaired subjects and to insure compatibility with the hand module in virtual and assisted grasping tasks. Several other practical requirements have also been addressed, including device ergonomics, clinician-friendliness, and ambidextrous reconfigurability. The wrist module's capabilities as a rehabilitation device are quantified experimentally in terms of functional workspace and dynamic properties. Specifically, the device possesses favorable performance in terms of range of motion, torque output, friction, and closed-loop position bandwidth when compared with existing devices. The presented wrist module's performance and operational considerations support its use in a wide range of future clinical investigations.en_US
dc.identifier.citationPezent, Evan, Rose, Chad G., Deshpande, Ashish D., et al.. "Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation." <i>2017 International Conference on Rehabilitation Robotics (ICORR),</i> (2017) IEEE: 720-725. https://doi.org/10.1109/ICORR.2017.8009333.en_US
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009333en_US
dc.identifier.urihttps://hdl.handle.net/1911/102345en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.en_US
dc.titleDesign and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitationen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
icorr-pezent-2017_final.pdf
Size:
1.73 MB
Format:
Adobe Portable Document Format
Description:
Download
Collections
Faculty Publications
Mechanical Engineering Publications