通过基于节气门的手腕角度控制在机器人手部矫形器上实现抓握力辅助以应对C6-C7脊髓损伤
Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury
AI总结：
针对C6-C7脊髓损伤患者抓握力弱及易疲劳问题，提出可穿戴机器人MyHand-SCI，通过基于节气门的手腕角度控制方法提供抓握辅助，初步案例证明其能改善抓握力并保留力调节能力。
摘要：
因C6-C7脊髓损伤导致手部瘫痪的个体经常依赖腱固定术进行抓握。然而，腱固定术产生的抓握力有限，并且需要持续用力来维持抓握，从而导致疲劳，有时还会引起疼痛。我们介绍了MyHand-SCI，这是一种通过电动外腱提供抓握辅助的可穿戴机器人。我们这款以用户为中心的设备通过一种新颖的基于节气门的手腕角度控制方法实现独立的同侧操作，该方法允许用户无需持续的手腕伸展即可维持抓握。对一名C6脊髓损伤患者进行的初步案例研究表明，在使用我们的设备时，功能性抓握和抓握力有所改善，并且保留了调节抓握力的能力，从而提高了他们操作日常物品的能力。这项研究是朝着为脊髓损伤患者开发有效且直观的可穿戴辅助设备迈出的一步。
英文摘要：
Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue and sometimes pain. We introduce the MyHand-SCI, a wearable robot that provides grasping assistance through motorized exotendons. Our user-driven device enables independent, ipsilateral operation via a novel Throttle-based Wrist Angle control method, which allows users to maintain grasps without continued wrist extension. A pilot case study with a person with C6 spinal cord injury shows an improvement in functional grasping and grasping force, as well as a preserved ability to modulate grasping force while using our device, thus improving their ability to manipulate everyday objects. This research is a step towards developing effective and intuitive wearable assistive devices for individuals with spinal cord injury.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
