Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System

Gionata Salvietti; Leonardo Franco; Martin Tschiersky; Gerjan Wolterink; Matteo Bianchi; Antonio Bicchi; Federica Barontini; Manuel Catalano; Giorgio Grioli; Mattia Poggiani; Simone Rossi; Domenico Prattichizzo

doi:10.3389/frobt.2021.661354

Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System

Gionata Salvietti^*, Leonardo Franco, Martin Tschiersky, Gerjan Wolterink, Matteo Bianchi, Antonio Bicchi, Federica Barontini, Manuel Catalano, Giorgio Grioli, Mattia Poggiani, Simone Rossi, Domenico Prattichizzo

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

10 Citations (Scopus)

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Abstract

Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance.

Original language	English
Article number	661354
Pages (from-to)	155
Number of pages	9
Journal	Frontiers in robotics and AI
Volume	8
DOIs	https://doi.org/10.3389/frobt.2021.661354
Publication status	Published - 10 Jun 2021

Keywords

assistive robotics
wearable robotics
exoskeletons
human-robot interfaces
upper-limb impairments

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.3389/frobt.2021.661354Licence: CC BY

frobt-08-661354Final published version, 1.85 MBLicence: CC BY

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Salvietti, G., Franco, L., Tschiersky, M., Wolterink, G., Bianchi, M., Bicchi, A., Barontini, F., Catalano, M., Grioli, G., Poggiani, M., Rossi, S., & Prattichizzo, D. (2021). Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System. Frontiers in robotics and AI, 8, 155. Article 661354. https://doi.org/10.3389/frobt.2021.661354

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title = "Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System",

abstract = "Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance.",

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author = "Gionata Salvietti and Leonardo Franco and Martin Tschiersky and Gerjan Wolterink and Matteo Bianchi and Antonio Bicchi and Federica Barontini and Manuel Catalano and Giorgio Grioli and Mattia Poggiani and Simone Rossi and Domenico Prattichizzo",

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Salvietti, G, Franco, L, Tschiersky, M, Wolterink, G, Bianchi, M, Bicchi, A, Barontini, F, Catalano, M, Grioli, G, Poggiani, M, Rossi, S & Prattichizzo, D 2021, 'Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System', Frontiers in robotics and AI, vol. 8, 661354, pp. 155. https://doi.org/10.3389/frobt.2021.661354

Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System. / Salvietti, Gionata; Franco, Leonardo; Tschiersky, Martin et al.
In: Frontiers in robotics and AI, Vol. 8, 661354, 10.06.2021, p. 155.

Research output: Contribution to journal › Article › Academic › peer-review

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T1 - Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients

T2 - The SoftPro Wearable System

AU - Salvietti, Gionata

AU - Franco, Leonardo

AU - Tschiersky, Martin

AU - Wolterink, Gerjan

AU - Bianchi, Matteo

AU - Bicchi, Antonio

AU - Barontini, Federica

AU - Catalano, Manuel

AU - Grioli, Giorgio

AU - Poggiani, Mattia

AU - Rossi, Simone

AU - Prattichizzo, Domenico

PY - 2021/6/10

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AB - Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance.

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KW - wearable robotics

KW - exoskeletons

KW - human-robot interfaces

KW - upper-limb impairments

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M3 - Article

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M1 - 661354

ER -

Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System

Abstract

Keywords

UN SDGs

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