{"id":298,"date":"2019-06-17T20:09:27","date_gmt":"2019-06-17T20:09:27","guid":{"rendered":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/?page_id=298"},"modified":"2022-12-19T19:00:27","modified_gmt":"2022-12-19T19:00:27","slug":"upper-limb-orthosis","status":"publish","type":"page","link":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/upper-limb-orthosis\/","title":{"rendered":"Arm Exoskeleton"},"content":{"rendered":"<p>We are developing a hand and arm exoskeleton to facilitate bimanual tasks for individuals with upper-extremity hemiparesis. The roles of each hand in a many bimanual tasks are quite different; specifically, one hand general performs an action, while the other hand provides a support function (e.g., twisting the lid off of a jar). The \u201caction\u201d hand generally requires power, dexterity, and volitional control, while the \u201csupport\u201d hand must simply grasp and release, but otherwise requires resistance to movement, rather than movement. In order to provide this support functionality, we have developed a hand and arm exoskeleton, where the hand portion provides a single-DOF grasp and release function, and the arm portion provides reconfigurable normally-locked write and elbow support. Both wrist and elbow joints are unlocked with a momentary switch at the wrist, so that a user can use his or her unaffected arm to reposition the affected arm, after which it remains in place. The hand exoskeleton is commanded to grasp or release with a momentary switch, which has a small delay programmed into it so that a user can hand him or herself an object (e.g., such as a jar). A recent paper highlights the functional benefits of this device to prospective patients.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-603 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Ben-in-arm-exo.jpg\" alt=\"Ben in arm exo\" width=\"440\" height=\"446\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Ben-in-arm-exo.jpg 632w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Ben-in-arm-exo-296x300.jpg 296w\" sizes=\"auto, (max-width: 440px) 100vw, 440px\" \/><\/p>\n<p>Vanderbilt hand and arm exoskeleton<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-large wp-image-607 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-1024x457.png\" alt=\"Arm exo\" width=\"750\" height=\"335\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-1024x457.png 1024w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-300x134.png 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-768x343.png 768w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo.png 1885w\" sizes=\"auto, (max-width: 750px) 100vw, 750px\" \/><\/p>\n<p>Exoskeleton components<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-606 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/See-through-version.png\" alt=\"See-through version\" width=\"616\" height=\"300\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/See-through-version.png 616w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/See-through-version-300x146.png 300w\" sizes=\"auto, (max-width: 616px) 100vw, 616px\" \/><\/p>\n<p>Design topology<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-604 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Hand-solid-model.png\" alt=\"Hand solid model\" width=\"712\" height=\"590\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Hand-solid-model.png 712w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Hand-solid-model-300x249.png 300w\" sizes=\"auto, (max-width: 712px) 100vw, 712px\" \/><\/p>\n<p>Hand design topology<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-605 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Motor-unit.png\" alt=\"Motor unit\" width=\"556\" height=\"344\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Motor-unit.png 841w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Motor-unit-300x185.png 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Motor-unit-768x475.png 768w\" sizes=\"auto, (max-width: 556px) 100vw, 556px\" \/><\/p>\n<p>Hand tendon actuation units<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-large wp-image-608 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Experiments-1024x249.png\" alt=\"Experiments\" width=\"750\" height=\"182\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Experiments-1024x249.png 1024w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Experiments-300x73.png 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Experiments-768x187.png 768w\" sizes=\"auto, (max-width: 750px) 100vw, 750px\" \/><\/p>\n<p>Assessment experiments<\/p>\n<hr \/>\n<div style=\"width: 750px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-298-1\" width=\"750\" height=\"422\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bottle-open-web.mp4?_=1\" \/><a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bottle-open-web.mp4\">https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bottle-open-web.mp4<\/a><\/video><\/div>\n<p>Arm exo seated bottle opening (with and without exoskeleton)<\/p>\n<hr \/>\n<div style=\"width: 750px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-298-2\" width=\"750\" height=\"422\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bread-cutting-web.mp4?_=2\" \/><a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bread-cutting-web.mp4\">https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2019\/06\/Arm-exo-bread-cutting-web.mp4<\/a><\/video><\/div>\n<p>Arm exo bread cutting (with and without exoskeleton)<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>We are developing a hand and arm exoskeleton to facilitate bimanual tasks for individuals with upper-extremity hemiparesis. The roles of each hand in a many bimanual tasks are quite different; specifically, one hand general performs an action, while the other hand provides a support function (e.g., twisting the lid off of a jar). The \u201caction\u201d&#8230;<\/p>\n","protected":false},"author":8284,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"tags":[],"class_list":["post-298","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/298","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/users\/8284"}],"replies":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/comments?post=298"}],"version-history":[{"count":5,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/298\/revisions"}],"predecessor-version":[{"id":612,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/298\/revisions\/612"}],"wp:attachment":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/media?parent=298"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/tags?post=298"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}