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Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play.

Taheri H, Rowe JB, Gardner D, Chan V, Gray K, Bower C, Reinkensmeyer DJ, Wolbrecht ET - J Neuroeng Rehabil (2014)

Bottom Line: The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths.We also used FINGER to measure subjects' effort and finger individuation while playing the game.Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.

View Article: PubMed Central - HTML - PubMed

Affiliation: Mechanical Engineering Department, University of Idaho, Moscow, ID, USA. htaheri@uidaho.edu.

ABSTRACT

Background: This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero. The goal was to make FINGER capable of assisting with motions where precise timing is important.

Methods: FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero while connected to FINGER.

Results: Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (-3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject's success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects' effort and finger individuation while playing the game.

Conclusions: Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.

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Related in: MedlinePlus

Average and standard deviation of finger individuation versus impairment level of three groups of highly impaired, moderately impaired and unimpaired subjects. Average finger individuation across success levels of both middle and index fingers.
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Figure 16: Average and standard deviation of finger individuation versus impairment level of three groups of highly impaired, moderately impaired and unimpaired subjects. Average finger individuation across success levels of both middle and index fingers.

Mentions: Figure 15 shows the effects of impairment level and the finger being used on finger individuation. Both the finger being used and impairment level were found to have a significant effect on finger individuation (p = .0001, degrees of freedom = 1 and p = .0062, degrees of freedom = 2, respectively). As can be seen in Figure 15, individuation scores of the index finger were consistently better than those of the middle finger. This means that when the subject tried to move the index finger, he was more successful at moving the index finger only, as compared to when he tried to move the middle finger. Success rate was not found to have a significant effect on finger individuation, and so we combined data across success levels, resulting in Figure 16, which shows the effect of subjects’ impairment level on finger individuation. Subjects’ with higher impairment had lower individuation ability. The ability to individuate the index finger was higher than the ability to individuate the middle finger.


Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play.

Taheri H, Rowe JB, Gardner D, Chan V, Gray K, Bower C, Reinkensmeyer DJ, Wolbrecht ET - J Neuroeng Rehabil (2014)

Average and standard deviation of finger individuation versus impairment level of three groups of highly impaired, moderately impaired and unimpaired subjects. Average finger individuation across success levels of both middle and index fingers.
© Copyright Policy - open-access
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3928667&req=5

Figure 16: Average and standard deviation of finger individuation versus impairment level of three groups of highly impaired, moderately impaired and unimpaired subjects. Average finger individuation across success levels of both middle and index fingers.
Mentions: Figure 15 shows the effects of impairment level and the finger being used on finger individuation. Both the finger being used and impairment level were found to have a significant effect on finger individuation (p = .0001, degrees of freedom = 1 and p = .0062, degrees of freedom = 2, respectively). As can be seen in Figure 15, individuation scores of the index finger were consistently better than those of the middle finger. This means that when the subject tried to move the index finger, he was more successful at moving the index finger only, as compared to when he tried to move the middle finger. Success rate was not found to have a significant effect on finger individuation, and so we combined data across success levels, resulting in Figure 16, which shows the effect of subjects’ impairment level on finger individuation. Subjects’ with higher impairment had lower individuation ability. The ability to individuate the index finger was higher than the ability to individuate the middle finger.

Bottom Line: The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths.We also used FINGER to measure subjects' effort and finger individuation while playing the game.Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.

View Article: PubMed Central - HTML - PubMed

Affiliation: Mechanical Engineering Department, University of Idaho, Moscow, ID, USA. htaheri@uidaho.edu.

ABSTRACT

Background: This paper describes the design and preliminary testing of FINGER (Finger Individuating Grasp Exercise Robot), a device for assisting in finger rehabilitation after neurologic injury. We developed FINGER to assist stroke patients in moving their fingers individually in a naturalistic curling motion while playing a game similar to Guitar Hero. The goal was to make FINGER capable of assisting with motions where precise timing is important.

Methods: FINGER consists of a pair of stacked single degree-of-freedom 8-bar mechanisms, one for the index and one for the middle finger. Each 8-bar mechanism was designed to control the angle and position of the proximal phalanx and the position of the middle phalanx. Target positions for the mechanism optimization were determined from trajectory data collected from 7 healthy subjects using color-based motion capture. The resulting robotic device was built to accommodate multiple finger sizes and finger-to-finger widths. For initial evaluation, we asked individuals with a stroke (n = 16) and without impairment (n = 4) to play a game similar to Guitar Hero while connected to FINGER.

Results: Precision design, low friction bearings, and separate high speed linear actuators allowed FINGER to individually actuate the fingers with a high bandwidth of control (-3 dB at approximately 8 Hz). During the tests, we were able to modulate the subject's success rate at the game by automatically adjusting the controller gains of FINGER. We also used FINGER to measure subjects' effort and finger individuation while playing the game.

Conclusions: Test results demonstrate the ability of FINGER to motivate subjects with an engaging game environment that challenges individuated control of the fingers, automatically control assistance levels, and quantify finger individuation after stroke.

Show MeSH
Related in: MedlinePlus