Preprint Article Version 1 NOT YET PEER-REVIEWED

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

  1. Department of Management and Engineering, University of Padova, Padova 35131, Italy
  2. Center for the Development of Nanoscience and Nanotechnology, Universidad de Santiago de Chile, Santiago 3363, Chile
  3. Department of Neurology at Padova Hospital, Padova 35100, Italy
Version 1 : Received: 27 September 2016 / Approved: 28 September 2016 / Online: 28 September 2016 (14:04:51 CEST)

A peer-reviewed article of this Preprint also exists.

Oscari, F.; Oboe, R.; Daud Albasini, O.A.; Masiero, S.; Rosati, G. Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand. Sensors 2016, 16, 1633. Oscari, F.; Oboe, R.; Daud Albasini, O.A.; Masiero, S.; Rosati, G. Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand. Sensors 2016, 16, 1633.

Journal reference: Sensors 2016, 16, 1633
DOI: 10.3390/s16101633

Abstract

The use of haptic devices in rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home, and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand.

Subject Areas

rehabilitation robotics; force feedback; remote rehabilitation; series elastic actuator; tele-assessment

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