title: Towards a modified consumer haptic device for robotic-assisted fine-motor repetitive motion training.
abstract: OBJECTIVE
  To develop, test and evaluate affordable haptic technology to provide robotic-assisted repetitive motion fine-motor training.
  
  
  METHODS
  A haptic computer/user interface was modified by adding a pantograph to hold a pen and to increase the haptic workspace. Custom software moves a pen attached to the device through prescribed three-dimensional (3D) stroke sequences to create two-dimensional glyphs. The pen's position is recorded in 3D coordinates at 1 kHz. Twenty-one healthy child volunteers were taught a standard handwriting curriculum in a group setting, two times per week for 45-60 min each session over 8 wks. The curriculum was supplemented by the device under the supervision of occupational therapy students. Outcomes were measured using the Evaluation Tool of Children's Handwriting (ETCH), and the Beery-Buktenica Developmental Test of visual-motor integration.
  
  
  RESULTS
  Word legibility made significant gains on near point copying task (p=0.04; effect size=0.95). Letter legibility made no significant improvement. One healthy volunteer with illegible handwriting improved significantly on 8 of 14 ETCH measures. The children found the device engaging, but made several recommendations to redesign the pantograph and scribing movements.
  
  
  CONCLUSIONS
  A consumer haptic device can be modified for robotic-assisted repetitive motion training for children. The device is affordable, portable, and engaging. It is safe for healthy volunteers. Objective time-stamped data offer the potential for telerehabilitation between a remote therapist and the school or home.
authors.affiliation: Center for Study of Chronic Illness & Disability, George Mason University, Fairfax, VA 22030, USA. InnovAbility@comcast.net
authors.forename: Susan E
authors.initials: SE
authors.lastname: Palsbo
authors.forename: Deborah
authors.initials: D
authors.lastname: Marr
authors.forename: Taylor
authors.initials: T
authors.lastname: Streng
authors.forename: Brian K
authors.initials: BK
authors.lastname: Bay
authors.forename: A Walter
authors.initials: AW
authors.lastname: Norblad
mesh_terms: D016287:Computer Peripherals; D003479:Curriculum; D006801:Humans; D009048:Motor Skills; D010865:Pilot Projects; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012984:Software; D013223:Statistics as Topic; D017216:Telemedicine; D014584:User-Computer Interface