Design of a Haptic Palmar Device with Thumb Flexion and Circumduction Movements for Sensorimotor Stroke Rehabilitation
Raphael Rätz (University of Bern)
René M. Müri (University of Bern)
Laura Marchal Crespo (TU Delft - Human-Robot Interaction, University of Bern)
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Abstract
To address the clinical need for high-intensity, repetitive sensorimotor hand training after stroke, we developed in a first step a novel haptic device for practicing finger movements. Because the thumb plays a fundamental role in the loss of autonomy and prehensile functions after stroke, we present here the development of a thumb module that complements our previous design. The novelties of our device are that it reduces the complexity to a minimum from a user perspective while still allowing anatomical thumb flexion/extension and circumduction movements with a highly functional range of motion. Moreover, it enables sensorimotor training thanks to its backlash-free and backdrivable actuation that allows for high-quality haptic rendering. Our device was co-created together with clinicians to incorporate clinical and anatomical requirements, and therefore, maximize its clinical relevance.