Design and preliminary assessment of Vanderbilt hand exoskeleton.

This paper presents the design of a hand exoskeleton intended to enable or facilitate bimanual activities of daily living (ADLs) for individuals with chronic upper extremity hemiparesis resulting from stroke. The paper describes design of the battery-powered, self-contained exoskeleton and presents the results of initial testing with a single subject with hemiparesis from stroke. Specifically, an experiment was conducted requiring the subject to repeatedly remove the lid from a water bottle both with and without the hand exoskeleton. The relative times required to remove the lid from the bottles was considerably lower when using the exoskeleton. Specifically, the average amount of time required to grasp the bottle with the paretic hand without the exoskeleton was 25.9 s, with a standard deviation of 33.5 s, while the corresponding average amount of time required to grasp the bottle with the exoskeleton was 5.1 s, with a standard deviation of 1.9 s. Thus, the task time involving the paretic hand was reduced by a factor of five, while the standard deviation was reduced by a factor of 16.