Grasp-training robot to activate neural control loop for reflex and experimental verification

Shotaro Okajima, Fady S. Alnajjar, Hiroshi Yamasaki, Matti Itkonen, Alvaro Costa Garcia, Yasuhisa Hasegawa, Shingo Shimoda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Using a rehabilitation robot to activate motion intention and reflex response simultaneously is an effective approach to aiding recovery from paralysis caused by neurological disorders. Mechanical motions supported by conventional robots are, however, not enough to activate reflex. In this paper, we propose a grasp-training robot that can stimulate the grasp reflex of a paralyzed hand by pushing the hand onto an elastic bar while supporting the grasping movements. In addition to this feature, we discuss the robot design in relation to its usability and wearability for ease of use in clinical practice. Experimental results obtained from healthy subjects show that the proposed robot can support grasping in a way similar to the traditional range-of-motion exercise used by therapists for grasp rehabilitation. Combining this appropriate grasping-motion support and the mechanism for pushing the hand onto an elastic bar succeeds in activating the grasp reflex of a completely paralyzed patient in a clinical test that involves monitoring electromyography signals from the paralyzed hand.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1849-1854
Number of pages6
ISBN (Electronic)9781538630815
DOIs
Publication statusPublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/TerritoryAustralia
CityBrisbane
Period5/21/185/25/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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