title: Design of a spring-assisted exoskeleton module for wrist and hand rehabilitation.
abstract: This paper reports on the development of a low-profile exoskeleton module to enable training of the fingers and thumb in grasp and release tasks. The design has been made as an add-on module for use with the ArmAssist arm rehabilitation system (Tecnalia, Spain). Variable-position springs and adjustable link lengths provide adaptability to fit a variety of users. Additive manufacturing has been utilized for the majority of components allowing easy modifications. A few structural components were machined from aluminum or steel to produce a functional prototype with sufficient strength for direct evaluation. The design includes independent and adjustable assistance in finger and thumb extension using various width elastic bands, and measurement of user grasp/release forces in finger flexion/extension, thumb flexion/extension, and thumb adduction/abduction using low-profile force sensitive resistors.
authors.forename: Joel C
authors.initials: JC
authors.lastname: Perry
authors.forename: Shawn
authors.initials: S
authors.lastname: Trimble
authors.forename: Luiz Gustavo
authors.initials: LG
authors.lastname: Castilho Machado
authors.forename: Jeremiah S
authors.initials: JS
authors.lastname: Schroeder
authors.forename: Aitor
authors.initials: A
authors.lastname: Belloso
authors.forename: Cristina
authors.initials: C
authors.lastname: Rodriguez-de-Pablo
authors.forename: Thierry
authors.initials: T
authors.lastname: Keller
mesh_terms: D000067190:Exoskeleton Device; D005385:Fingers; D006225:Hand / Q000502:physiology*; D018737:Hand Strength; D006801:Humans; D013030:Spain; D013933:Thumb; D014953:Wrist / Q000502:physiology*