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

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    Author
    Rose, Chad G.; Sergi, Fabrizio; Yun, Youngmok; Madden, Kaci; Deshpande, Ashish D.; More... O’Malley, Marcia K. Less...
    Date
    2015
    Abstract
    Training 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.
    Citation
    Rose, Chad G., Sergi, Fabrizio, Yun, Youngmok, et al.. "Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks." 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), (2015) IEEE: 205-210. http://dx.doi.org/10.1109/ICORR.2015.7281200.
    Published Version
    http://dx.doi.org/10.1109/ICORR.2015.7281200
    Type
    Journal article
    Publisher
    IEEE
    Citable link to this page
    https://hdl.handle.net/1911/87887
    Rights
    This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
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    • Faculty Publications [5397]
    • Mechanical Engineering Publications [166]

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    Home | FAQ | Contact Us | Privacy Notice | Accessibility Statement
    Managed by the Digital Scholarship Services at Fondren Library, Rice University
    Physical Address: 6100 Main Street, Houston, Texas 77005
    Mailing Address: MS-44, P.O.BOX 1892, Houston, Texas 77251-1892
    Site Map