Document Type : Research Article
Authors
1
Department of Computer and Biomedical Engineering, Ahar Branch, Islamic Azad University, Ahar, Iran
2
- Department of Medical Physics and Biomedical Engineering, Medical School, Tehran University of Medical Science, Tehran, Iran - Research Centre for Biomedical Technologies and Robotics (RCBTR), Advanced Medical Technologies and Equipment Institute (AMTEI), Tehran University of Medical Sciences, Tehran, Iran
3
Department of Medical Physics and Biomedical Engineering, Medical School, Tehran University of Medical Science, Tehran, Iran
4
- Department of Medical Physics and Biomedical Engineering, Medical School, Tehran University of Medical Science, Tehran, Iran - Department of Physical Medicine and Rehabilitation, Northwestern University, USA
5
- Research Center for War-Affected People, Tehran University of Medical Science, Tehran, Iran - Department of Physiotherapy, School of Rehabilitation, Tehran University of Medical Science, Tehran, Iran
6
Research Assistant, Electrical Engineering Department, University of Rhode Island, USA
7
Technical Director of Tabassom Stroke Rehabilitation center
Abstract
Hand impairment, followed by stroke, causes significant deficits in performing different activities. Restoration of hand functions requires regular and repetitive therapy exercises. Although robotically physiotherapy systems have shown great promise in hand functions’ improvements, they are not widely and effectively used, as the needs and expectations of patients and physiotherapists have been ignored. In this paper, a 4-Degrees of freedom desktop-mounted robot is developed for four fingers and wrist rehabilitation, based on clinical observations. HandRoboHab provides the four mechanotherapy prevalent movements as follows: active, passive, active-assisted, and active resisted. In this study, the design and development of the robot are described. Then the efficiency and usability of the device are evaluated through two technical tests, and a preliminary clinical trial. The results of technical tests showed that HandRoboHab was able to cover the wrist range of motion of 99 to 203 degrees. Besides, the proposed device was capable of compensating its weight, which is a necessary step to accomplish the active modes exercises. In addition, clinical trial results showed that HandRoboHab was both operative and comfortable for patients with different hand sizes.
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