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Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
Joaquin Palacios1, Alexandra Deli-Ivanov1, Ava Chen1
1Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA.
IEEE Transactions on Medical Robotics and Bionics
|March 5, 2025
Summary
This study introduces MyHand-SCI, a wearable robotic hand for spinal cord injury (SCI) patients. It enhances grasping force and reduces user fatigue, improving daily object manipulation.
Area of Science:
- Biomedical Engineering
- Rehabilitation Robotics
- Assistive Technology
Background:
- Hand paralysis from C6-C7 spinal cord injuries (SCI) limits independence.
- Existing tenodesis grasp methods offer limited force and cause fatigue/pain.
- Need for advanced assistive devices for SCI individuals.
Purpose of the Study:
- Introduce the MyHand-SCI, a novel wearable robotic hand.
- Evaluate its effectiveness in assisting grasp for individuals with SCI.
- Assess the usability and impact on daily object manipulation.
Main Methods:
- Developed MyHand-SCI with motorized exotendons for grasping assistance.
- Implemented a novel Throttle-based Wrist Angle control for independent operation.
- Conducted a pilot case study with a C6 SCI participant.
Main Results:
- Demonstrated improved functional grasping and increased grasping force.
- Showcased preserved ability to modulate grasp force while using the device.
- Participant experienced enhanced manipulation of everyday objects.
Conclusions:
- MyHand-SCI offers a promising solution for grasping assistance in SCI.
- The device improves functional independence and reduces user exertion.
- This technology represents a significant step towards intuitive wearable assistive devices for SCI.
