Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
<|reference_start|>Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury: Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel Throttle-based Wrist Angle control method, which allows users to maintain grasps without continued wrist extension. A pilot case study with a person with C6 spinal cord injury shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive wearable assistive devices for individuals with spinal cord injury.<|reference_end|>
@article{palacios2024grasp,
    title={Grasp Force Assistance via Throttle-based Wrist Angle Control on a
  Robotic Hand Orthosis for C6-C7 Spinal Cord Injury},
    author={Joaquin Palacios, Alexandra Deli-Ivanov, Ava Chen, Lauren
  Winterbottom, Dawn M. Nilsen, Joel Stein, Matei Ciocarlie},
    journal={arXiv preprint arXiv:2402.08020},
    year={2024},
    archivePrefix={arXiv},
    eprint={2402.08020},
    primaryClass={cs.RO}
}