Show simple item record

dc.contributor.authorRose, Chad G.
Sergi, Fabrizio
Yun, Youngmok
Madden, Kaci
Deshpande, Ashish D.
O’Malley, Marcia K.
dc.date.accessioned 2016-01-20T19:40:21Z
dc.date.available 2016-01-20T19:40:21Z
dc.date.issued 2015
dc.identifier.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) 205-210. http://dx.doi.org/10.1109/ICORR.2015.7281200.
dc.identifier.urihttps://hdl.handle.net/1911/87887
dc.description.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.
dc.language.iso eng
dc.rights This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.title Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks
dc.type Journal article
dc.contributor.funder National Science Foundation
dc.contributor.funder National Aeronautics and Space Administration
dc.citation.journalTitle 2015 IEEE International Conference on Rehabilitation Robotics (ICORR)
dc.contributor.org Mechatronics and Haptic Interfaces Laboratory
dc.contributor.publisher IEEE
dc.type.dcmi Text
dc.identifier.doihttp://dx.doi.org/10.1109/ICORR.2015.7281200
dc.identifier.grantID CPS-1135949/1135916 (National Science Foundation)
dc.identifier.grantID NSTRF- NNX13AM70H (National Aeronautics and Space Administration)
dc.type.publication post-print
dc.citation.firstpage 205
dc.citation.lastpage 210


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record