Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks

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dc.citation.firstpage205en_US
dc.citation.journalTitle2015 IEEE International Conference on Rehabilitation Robotics (ICORR)en_US
dc.citation.lastpage210en_US
dc.contributor.authorRose, Chad G.en_US
dc.contributor.authorSergi, Fabrizioen_US
dc.contributor.authorYun, Youngmoken_US
dc.contributor.authorMadden, Kacien_US
dc.contributor.authorDeshpande, Ashish D.en_US
dc.contributor.authorO’Malley, Marcia K.en_US
dc.contributor.orgMechatronics and Haptic Interfaces Laboratoryen_US
dc.date.accessioned2016-01-20T19:40:21Z
dc.date.available2016-01-20T19:40:21Z
dc.date.issued2015en_US
dc.description.abstractTraining coordinated hand and wrist movement is invaluable during post-neurological injury due to the anatomical, biomechanical, and functional couplings of these joints. This paper presents a novel rehabilitation device for coordinated hand and wrist movement. As a first step towards validating the new device as a measurement tool, the device transparency was assessed through kinematic analysis of a redundant finger pointing task requiring synergistic movement of the wrist and finger joints. The preliminary results of this new methodology showed that wearing the robot affects the kinematic coupling of the wrist and finger for unconstrained pointing tasks. However, further experiments specifying a subset of the solution manifold did not exhibit the same difference between robot and no robot trials. The experiments and analysis form a promising method for the characterization of multi-articular wearable robots as measurement tools in robotic rehabilitation.en_US
dc.identifier.citationRose, Chad G., Sergi, Fabrizio, Yun, Youngmok, et al.. "Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks." <i>2015 IEEE International Conference on Rehabilitation Robotics (ICORR),</i> (2015) IEEE: 205-210. http://dx.doi.org/10.1109/ICORR.2015.7281200.
dc.identifier.doihttp://dx.doi.org/10.1109/ICORR.2015.7281200en_US
dc.identifier.urihttps://hdl.handle.net/1911/87887
dc.language.isoengen_US
dc.publisherIEEE
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.titleCharacterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasksen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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