Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients

Claudia J.W. Haarman; Edsko E.G. Hekman; Ellen M. Maas; Johan S. Rietman; Herman Van Der Kooij

doi:10.1109/ICORR55369.2022.9896595

Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients

Claudia J.W. Haarman, Edsko E.G. Hekman, Ellen M. Maas, Johan S. Rietman, Herman Van Der Kooij

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

148 Downloads (Pure)

Abstract

Improving the impaired hand function of spinal cord injury patients with a robotic exoskeleton can highly impact their self-management, and ultimately their quality of life. In this paper the design and evaluation of a new, lightweight (50 gram) robotic thumb exoskeleton, called TGRIP, was presented that supports the lateral pinch grasp. The mechanism consists of a linear actuator that was mounted to the dorsal side of the hand, and a force transmission mechanism that flexes the thumb towards the side of the index finger. The thumb movement was controlled through contralateral wrist rotation. Experimental results from an evaluation with three spinal cord injury patients showed that the achieved grip force ( 7N) was higher and the overall performance during the Grasp and Release Test was better with the T-GRIP than without device. The device shows great potential for improving the hand function of patients with cervical spinal cord injury by actuating only a single degree of freedom.

Original language	English
Title of host publication	2022 International Conference on Rehabilitation Robotics, ICORR 2022
Publisher	IEEE
ISBN (Electronic)	9781665488297
ISBN (Print)	978-1-6654-8830-3
DOIs	https://doi.org/10.1109/ICORR55369.2022.9896595
Publication status	Published - 28 Sept 2022
Event	17th IEEE International Conference on Rehabilitation Robotics, ICORR 2022 - Rotterdam, Netherlands Duration: 25 Jul 2022 → 29 Jul 2022 Conference number: 17

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
Volume	2022-July
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	17th IEEE International Conference on Rehabilitation Robotics, ICORR 2022
Abbreviated title	ICORR 2022
Country/Territory	Netherlands
City	Rotterdam
Period	25/07/22 → 29/07/22

Keywords

22/4 OA procedure

Access to Document

10.1109/ICORR55369.2022.9896595

10.1109_icorr55369.2022.9896595Final published version, 1.76 MBLicence: Taverne

Cite this

Haarman, C. J. W., Hekman, E. E. G., Maas, E. M., Rietman, J. S., & Van Der Kooij, H. (2022). Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients. In 2022 International Conference on Rehabilitation Robotics, ICORR 2022 (IEEE International Conference on Rehabilitation Robotics; Vol. 2022-July). IEEE. https://doi.org/10.1109/ICORR55369.2022.9896595

@inproceedings{1f87c8d093c0439594311a7e13062f15,

title = "Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients",

abstract = "Improving the impaired hand function of spinal cord injury patients with a robotic exoskeleton can highly impact their self-management, and ultimately their quality of life. In this paper the design and evaluation of a new, lightweight (50 gram) robotic thumb exoskeleton, called TGRIP, was presented that supports the lateral pinch grasp. The mechanism consists of a linear actuator that was mounted to the dorsal side of the hand, and a force transmission mechanism that flexes the thumb towards the side of the index finger. The thumb movement was controlled through contralateral wrist rotation. Experimental results from an evaluation with three spinal cord injury patients showed that the achieved grip force ( 7N) was higher and the overall performance during the Grasp and Release Test was better with the T-GRIP than without device. The device shows great potential for improving the hand function of patients with cervical spinal cord injury by actuating only a single degree of freedom.",

keywords = "22/4 OA procedure",

author = "Haarman, {Claudia J.W.} and Hekman, {Edsko E.G.} and Maas, {Ellen M.} and Rietman, {Johan S.} and {Van Der Kooij}, Herman",

note = "Funding Information: This work was partially supported by the European Unions Horizon 2020 research and innovation programme under Grant 825003 (DIH-HERO). 1Claudia J.W. Haarman, Edsko E.G. Hekman, Johan S. Rietman and Herman van der Kooij are with Department of Biomechanical Engineering, University of Twente, 7500 AE Enschede, The Netherlands [email protected] 2Claudia J.W. Haarman is also with Hankamp Rehab, Enschede, The Netherlands. 3Ellen M. Maas and Johan S. Rietman are with Roessingh, Centre for Rehabilitation, Enschede, The Netherlands. 4Johan S. Rietman is also with Roessingh, Research and Development, Enschede, the Netherlands. Publisher Copyright: {\textcopyright} 2022 IEEE.; 17th IEEE International Conference on Rehabilitation Robotics, ICORR 2022, ICORR 2022 ; Conference date: 25-07-2022 Through 29-07-2022",

year = "2022",

month = sep,

day = "28",

doi = "10.1109/ICORR55369.2022.9896595",

language = "English",

isbn = "978-1-6654-8830-3",

series = "IEEE International Conference on Rehabilitation Robotics",

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booktitle = "2022 International Conference on Rehabilitation Robotics, ICORR 2022",

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Haarman, CJW , Hekman, EEG, Maas, EM, Rietman, JS & Van Der Kooij, H 2022, Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients. in 2022 International Conference on Rehabilitation Robotics, ICORR 2022. IEEE International Conference on Rehabilitation Robotics, vol. 2022-July, IEEE, 17th IEEE International Conference on Rehabilitation Robotics, ICORR 2022, Rotterdam, Netherlands, 25/07/22. https://doi.org/10.1109/ICORR55369.2022.9896595

Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients. / Haarman, Claudia J.W.; Hekman, Edsko E.G.; Maas, Ellen M. et al.
2022 International Conference on Rehabilitation Robotics, ICORR 2022. IEEE, 2022. (IEEE International Conference on Rehabilitation Robotics; Vol. 2022-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Maas, Ellen M.

AU - Rietman, Johan S.

AU - Van Der Kooij, Herman

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N2 - Improving the impaired hand function of spinal cord injury patients with a robotic exoskeleton can highly impact their self-management, and ultimately their quality of life. In this paper the design and evaluation of a new, lightweight (50 gram) robotic thumb exoskeleton, called TGRIP, was presented that supports the lateral pinch grasp. The mechanism consists of a linear actuator that was mounted to the dorsal side of the hand, and a force transmission mechanism that flexes the thumb towards the side of the index finger. The thumb movement was controlled through contralateral wrist rotation. Experimental results from an evaluation with three spinal cord injury patients showed that the achieved grip force ( 7N) was higher and the overall performance during the Grasp and Release Test was better with the T-GRIP than without device. The device shows great potential for improving the hand function of patients with cervical spinal cord injury by actuating only a single degree of freedom.

AB - Improving the impaired hand function of spinal cord injury patients with a robotic exoskeleton can highly impact their self-management, and ultimately their quality of life. In this paper the design and evaluation of a new, lightweight (50 gram) robotic thumb exoskeleton, called TGRIP, was presented that supports the lateral pinch grasp. The mechanism consists of a linear actuator that was mounted to the dorsal side of the hand, and a force transmission mechanism that flexes the thumb towards the side of the index finger. The thumb movement was controlled through contralateral wrist rotation. Experimental results from an evaluation with three spinal cord injury patients showed that the achieved grip force ( 7N) was higher and the overall performance during the Grasp and Release Test was better with the T-GRIP than without device. The device shows great potential for improving the hand function of patients with cervical spinal cord injury by actuating only a single degree of freedom.

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ER -

Design and feasibility of the T-GRIP thumb exoskeleton to support the lateral pinch grasp of spinal cord injury patients

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