Hand Rehabilitation Robotics on Poststroke Motor Recovery

Table 2

An overview of current designs of hand rehabilitation robots.

Device

Reference

Subject

Hardware system

Training paradigm

Evaluation

Study

Year

ID

Phase

Muscle status

Extent of stroke

Types of robots

Actuation

Transmission

Sensors

Training modalities

Movement patterns

Induction

Detected intention

Feedback

Experimental subject

ROM

Velocity

Force

Functional testing

Clinical scale

Hexosys I

Iqbal et al.

2010–2014

[158]

N/A

N/A

N/A

Exoskeleton

Electrical motor

Linkage

Force/position sensor

P/AA

N/A

N/A

N/A

—

—

—

—

—

—

—

Hexosys II

Iqbal et al.

2011

[159]

N/A

N/A

N/A

Exoskeleton

Electrical motor

Linkage

Force/position sensor

P/AA

N/A

N/A

N/A

—

—

—

—

—

—

—

Hexorr

Schabowsky et al.

2010

[160]

N/A

N/A

N/A

Exoskeleton

Electrical motor

Linkage

Torque sensor

AS

N/A

N/A

N/A

—

—

—

—

—

—

Handexos

Chiri et al.

2009

[53, 58]

N/A

N/A

N/A

Exoskeleton

Electrical motor

Cable, crank-slide

—

P/A

N/A

N/A

N/A

—

—

—

—

—

—

—

Handsome

Brokaw et al.

2011

[75]

N/A

Hypertonia

Severe to moderate

Exoskeleton

Spring

Linkage

Position sensor

AS

Functional level and activity level

N/A

N/A

—

8 chronic patients

MAX ROM + 48.7° ()

Peak velocity + 67°/s () Velocity of extension + 48°/s ()

Grip strength −3.7 N ()

Lifting larger block ()

—

Hand-assist robot

Ueki et al.

2004–2014

[39, 159–161]

Acute

N/A

N/A

Exoskeleton

Electrical motor/contralateral extremity

Linkage

Torque/force sensor

AA

Functional level

Mirrored motion VR

Joint angles of unaffected hand

Real-time state by VR

Healthy subjects

N/A

N/A

N/A

Self-control experiment

—

Sarakglou et al.

Sarakglou et al.

2004

[40]

N/A

N/A

N/A

Exoskeleton

Electrical motor

Linkage pull cables

Position/force sensor

AA

Activity level

VR

Force on hand

Real-time state by VR

—

—

—

—

Virtual tasks

—

Fingerbot

Cruz E G

2010

[164]

Chronic

Hemiparesis

N/A

End-effector

Spring/electrical motor

Linkage

Position/force

AS/A

—

—

—

—

10 chronic patients

Larger active ROM

—

—

Greater accuracy in terms of reaching the target

—

Ramos

Ramos

2009–2012

[42]

Chronic

N/A

N/A

End-effector

Electrical motor

Cable

Position/force

P/AA/A

N/A

—

Intention in the brain

—

23 health subjects

—

—

—

—

—

Mricr

Tang et al.

2011–2013

[165–168]

N/A

N/A

N/A

Exoskeleton

Ultrasonic motor

Linkage

Position

P/AA/A

Functional

—

Intention in the brain

—

—

—

—

—

—

—

AMADEO

Pinter D

2010–2014

[54, 169]

Acute/chronic/mixed

N/A

Moderate-to-high grade

End-effector

N/A

N/A

Position

P/AS/AA/A

Functional

VR

Position

Real-time state by VR

Multiple

—

—

—

Improved hand function

FM scores improved

N/A: the content is not available; —: the design in the content is null; P: passive; A: active; AS: assistive; AA: active assistive; R: resistive.