RT info:eu-repo/semantics/article
T1 RobHand: A Hand Exoskeleton With Real-Time EMG-Driven Embedded Control. Quantifying Hand Gesture Recognition Delays for Bilateral Rehabilitation
A1 Cisnal, Ana
A1 Perez-Turiel, Javier
A1 Fraile, Juan-Carlos
A1 Sierra, David
A1 Fuente López, Eusebio de la
A1 de la Fuente, Eusebio
K1 Electromyography; Exoskeletons; Training;Stroke (medical condition); Real-time systems; Medical treatment; Robot sensing systems; Electromyography; embedded software; exoskeletons; real-time systems; rehabilitation robotics
AB Assisted bilateral rehabilitation has been proven to help patients improve their paretic limb ability and promote motor recovery, especially in upper limbs, after suffering a cerebrovascular accident (ACV). Robotic-assisted bilateral rehabilitation based on sEMG-driven control has been previously addressed in other studies to improve hand mobility; however, low-cost embedded solutions for the real-time bio-cooperative control of robotic rehabilitation platforms are lacking. This paper presents the RobHand (Robot for Hand Rehabilitation) system, which is an exoskeleton that supports EMG-driven assisted bilateral by using a custom-made low-cost EMG real-time embedded solution. A threshold non-pattern recognition EMG-driven control for RobHand has been developed, and it detects hand gestures of the healthy hand and replicates the gesture on the exoskeleton placed on the paretic hand. A preliminary study with ten healthy subjects is conducted to evaluate the performance in reliability, tracking accuracy and response time of the proposed EMG-driven control strategy using the EMG real-time embedded solution, and the findings could be extrapolated to stroke patients. A systematic review has been carried out to compare the results of the study, which present a 97% of overall accuracy for the detection of hand gestures and indicate the adequate time responsiveness of the system.
PB IEEE Access
YR 2021
FD 2021
LK https://uvadoc.uva.es/handle/10324/65759
UL https://uvadoc.uva.es/handle/10324/65759
LA eng
NO "RobHand: A Hand Exoskeleton With Real-Time EMG-Driven Embedded Control. Quantifying Hand Gesture Recognition Delays for Bilateral Rehabilitation," in IEEE Access, vol. 9, pp. 137809-137823, 2021, doi: 10.1109/ACCESS.2021.3118281.
NO Producción Científica
DS UVaDOC
RD 12-may-2024