Hand Extension Robot Orthosis (HERO) Glove: Development and Testing With Stroke Survivors With Severe Hand Impairment.

Aaron Yurkewich,Debbie Hebert,Rosalie H Wang,Alex Mihailidis

doi:10.1109/tnsre.2019.2910011

Aaron Yurkewich, Debbie Hebert + Show 2 more

Open Access

https://doi.org/10.1109/tnsre.2019.2910011

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Abstract

The hand extension robot orthosis (HERO) glove was iteratively designed with occupational therapists and stroke survivors to enable stroke survivors with severe hand impairment to grasp and stabilize everyday objects, while being portable, lightweight, and easy to set up and use. The robot consists of a batting glove with artificial tendons embedded into the glove's fingers. The tendons are pulled and pushed by a linear actuator to extend and flex the fingers. The robot's finger extension and grasp assistance are automated using inertial measurement unit signal thresholds. Five stroke survivors (Chedoke McMaster Stroke Assessment - Stage of Hand 1-3) put on the HERO Glove in 1-3 minutes, with assistance. The stroke survivors performed significantly better on the Box and Block Test (2.8 more blocks transferred, ) while wearing the HERO Glove than when not wearing the glove. Four stroke survivors could only transfer blocks while wearing the HERO Glove. The HERO Glove enabled these stroke survivors to more fully extend their index finger (an increase of 97.5°, ) and three of five stroke survivors were better able grasp a water bottle. Therapists and stroke survivors suggested increasing the HERO Glove's grip force assistance and valued the glove's portability, lightweight design and potential usefulness in assisting with task-based therapy.

Highlights

F IFTEEN million individuals worldwide experience a stroke each year with 50,000 of these cases occurring in Canada [1]
High-intensity, personalized therapy is needed for stroke survivors to regain their hand range of motion (ROM), strength and coordination, and translate recovery gains into daily task independence [4], [5]
Robotic hand orthoses have the potential to enable stroke survivors to generate larger motions and stronger forces. This can enable stroke survivors to more usefully incorporate their affected hand into activities of daily living that would otherwise require compensatory strategies and caregiver support

Summary

Introduction

F IFTEEN million individuals worldwide experience a stroke each year with 50,000 of these cases occurring in Canada [1]. The coaching and motion assistance required is time and resource intensive, making it difficult for therapy clinics to supply at the appropriate intensity [6], [7]. After their therapy programs are complete many stroke survivors still struggle to extend their fingers to prepare for a grasp and grip with enough strength to stabilize objects, thereby making the hand difficult to integrate into daily activities at home. Affordability and ease of use of wearable robotic hand orthoses, they could be more integrated into home therapy programs to monitor active movement, assist directly in daily activities and increase neuromuscular recovery [17]–[19]

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