Particle Effects For Trapcode. Trapcode 3D Stroke. Trapcode Shine. Trapcode Lux. Trapcode SoundKeys. Trapcode EchoSpace. Trapcode Starglow. Trapcode 3DStroke Studio. Trapcode Horizon. Twitter Facebook. To access the codes and program details please see Silva et al.
A proof of concept was developed to test HERO feasibility due to its novel design and approach. The goal was not to compare participant BMI classifier performance since we used previously already tested BMI scenarios. For detailed information about BMI training, please see the previous studies Ramos-Murguialday et al.
The participant, naive to BMI training, underwent a MI training session, and an experimental session with online feedback. Each session consisted of a total of 20 trials of C1 and 20 trials of C2 randomly assigned. The reference was positioned at FCz, and the ground was at AFz. Natural grasp movements of the subject were compared to the passive movements developed by HERO. The fingers trajectories were calculated by tracking a white dot positioned on the index fingertip with the Kinovea software kinovea.
Pearson's correlation coefficients r were calculated to evaluate the statistical relationship between x and y trajectories for each movement natural grasp and passive movement. This configuration achieved the best esthetic design. A two-wire actuator was configured with a 50 mm stroke to drive the index and little fingers.
Another two-wire actuator was configured with a 60 mm stroke to drive the middle and ring fingers. Finally, a 40 mm stroke one-wire actuator was responsible for driving the thumb. Each actuator weighed about g. The mean force in kgf curve is presented in Figure 9 with their respective standard deviations. The relationship between the maximum actuator force and the voltage supply presented a linear behavior.
The peak value was 8. Average of the actuating force per actuator voltage supply. Error bars presented in the figure represent the standard deviations of each mean. The exoskeleton and the actuator were connected by inexpensive bicycle brake cables and cable housings. Figure 10 shows HERO assembled to the body. Actuators were fixed to the leg and the cable housings were hidden by the user's clothes.
Elastic bands were attached to the forearm to hold the cables and to give greater mobility. The weight of the control system plus the actuators was less than half of the maximum weight requirement Polygerinos et al. The actuators were attached to the right lower limb, on the same side of the exoskeleton glove, only for illustration.
Patients should have the actuators attached to their healthy lower limb. The naive subject was able to control the HERO with a classification accuracy of The variation between trials directly influenced the HERO control. Trials in which the algorithm was unable to accurately predict the correct class led to intermittent passive movements. This situation can be observed in Figure This figure shows the values sent to the Arduino Uno in different trials.
The green mark represents the moment in which the cross appears on the screen. The yellow mark represents the moment in which the cue to class 2 appears on the screen. Upper graph: Trial recorded between 40 and 48 s showing that the feedback can work in a non-continuous mode, according to the decoding received from the MI. Bottom graphic: Trial recorded between and s. The upper graph represents a low-performance trial. In this case, the actuators were activated for short periods, and the exoskeleton was not able to reach the maximum movement range at the end of the trial.
In trials with higher performances—lower graph—the actuators had enough time to reach their maximum stroke, and, therefore, full flexion was achieved. Figure 12 describes the trajectory of the index fingertip during finger flexion for natural actively performed by the subject and passive movements performed by the exoskeleton. Two-dimensional 2D trajectories of finger flexion movements. The red curve represents the passive movement. Correlation analyses between x and y trajectories.
First column: x and y trajectories vs. In this work, for the first time, an innovative manufacturing method was applied within the scope of assistive technologies and Soft Robotics devices to make a low-cost and lightweight hand exoskeleton for stroke rehabilitation.
HERO prototype was designed aiming to be discreet and esthetically pleasing, although it has not been evaluated for final consumers yet. The combination of the transparent PLA with the invisible tulle gives the impression that the exoskeleton makes part of the hand. This esthetic aspect is one of the key features to consider when designing robotic devices for rehabilitation McConnell et al. The HERO low-cost design may contribute to better acceptance by stroke patients and may motivate intensive hand rehabilitation training and possible use during ADLs.
FDM technique had several advantages, such as good esthetic finishing, precision in dimensional tolerances, rapid and versatile prototyping, and easy replacement of parts. The counterpoints were as follows: the necessity of constant printer maintenance to guarantee high-quality parts and uncertainties about using this methodology to mass production. HERO design used dimensional tolerances of a 0.
However, factors such as incorrect table calibration, ambient temperature, and extruder temperature variations directly affect the quality of the joints. Nevertheless, this work showed that functional parts can be produced by the FDM technique, contributing to the findings of previous works Zuniga et al.
The actuator also needs to be evaluated in this regard. Therefore, further extensive durability tests are necessary. Design changes such as part resizing, different fabric configurations, and also the application of seams could increase durability. In this study, a torque criterion of 0. According to these studies, the specified torque is enough to use the HERO in ADLs and in clinical procedures with spastic stroke patients.
This criterion was higher than those generally adopted in exoskeleton projects Arata et al. However, a thorough analysis still needs to be done to assess the real force applied to the fingertips and to overcome spasticity in stroke patients.
The weight of the hand-mounted exoskeleton increased from 58 to about g by adding cables and cable housings. It is also below the average weight of cable-driven exoskeletons Chu and Patterson, The control system weighed about 1. Although this value is within the initial specification of 3 kg Polygerinos et al. It is noteworthy that the mentioned values do not consider the BMI apparatus. This is an inexpensive value considering the potential for rehabilitation intervention that could be applied intensively in post-stroke patients.
We believe that the values can be reduced even further in future versions. Passive motion performed by the HERO was compared to the natural hand-grip movement. The analysis showed a strong positive correlation between movements in x and y positions. Reproducibility analysis also indicated substantial concordance in both cases. One of the reasons is that most patients need to recover simple movements before performing more precise movements.
In addition, more complex devices involve equally complex control techniques, which may reduce patient enrollment. EEG is an interesting alternative for total limb paralyzed stroke patients. However, robust EEG equipment is expensive. Although low-cost devices such as Emotiv Epoc are already available, the signal quality of these devices is questionable, and the use is now based on rental McConnell et al.
However, despite the efforts of DIY EEG designers, aspects such as safety, durability, and reliability are still questionable and not properly specified. The classification accuracy of the BMI was high for a naive subject, and it can increase with regular training. This high decoding control rate could be interesting for patient rehabilitation, even though it is not related to the HERO design and functionality. Although we have not analyzed the closed-loop latency i. Balasubramanian et al.
Thus, it is possible that human—machine interfaces HMIs such as electromyography EMG could be associated with the HERO for motor rehabilitation, possibly improving accuracy, and performance Ribeiro et al.
This would considerably decrease the total costs involved in rehabilitation interventions and facilitate both clinical and intensive use in patients' homes. Only two safety mechanisms were implemented: stroke limiters to avoid excessive flexion or extension and reset button. Other safety mechanisms such as emergency buttons and band sensors suggested by Chu and Patterson will be implemented further.
Although the required momentum to move the fingers of patients with severe spasticity was taken into account, only a proof of concept was performed with a healthy subject. No tests have been performed on stroke patients to assess the usability and acceptability of the HERO. Future clinical studies may provide appropriate answers to these questions. Besides, safety mechanisms have yet to be implemented.
The development of robotic devices for post-stroke hand rehabilitation has made rapid progress, especially over the last 10 years. Although the neurophysiological basis behind motor recovery is not fully comprehended, few weeks of BMI therapy improves significantly motor control.
Here, we presented an innovative manufacturing technique for developing a low-cost robotic device for hand rehabilitation after stroke.
The mechanical design was based on a large literature review. HERO project focused on balancing different parameters, such as esthetics, comfort, practicality, ergonomics, portability, and low cost.
The manufacturing methodology that combines textiles with 3D-printed parts may be an alternative to develop new wearable devices for healthcare. Besides, simple and low-cost parts were used to build the HERO electrical and mechanical systems guaranteeing easy maintenance. The result was a lightweight, simple, portable, and inexpensive device. Large-scale tests still need to be developed.
We expect that HERO training sessions can be performed not only in hospitals and clinical settings but also in patients' homes enabling intensive rehabilitation training and higher movement recovery for stroke patients—or patients with movement disorders.
Another possibility is to use the HERO to assist patients in various ADLs, which may increase the quality of life of stroke patients and their caregivers. The studies involving human participants were reviewed and approved by Universidade Potiguar No. RA conceived of the present idea, design, analytic calculation, data collection and analysis, study concept and design, and wrote the manuscript with support of FB.
EM supervised the project and helped with material acquisition. FB contributed to the study concept and design, critical revision of the manuscript for important intellectual content, obtained funding, and supervised the project. All authors contributed to the article and approved the submitted version. The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.
National Center for Biotechnology Information , U. Journal List Front Neurosci v. Front Neurosci. Published online Jun Rommel S. Silva , 2 Severino P. Netto , 1 Edgard Morya , 1 and Fabricio L. Brasil 1. Camille R.
Severino P. Fabricio L. Author information Article notes Copyright and License information Disclaimer. Araujo moc. This article was submitted to Neuroprosthetics, a section of the journal Frontiers in Neuroscience. Received Jan 31; Accepted May 3. The use, distribution or reproduction in other forums is permitted, provided the original author s and the copyright owner s are credited and that the original publication in this journal is cited, in accordance with accepted academic practice.
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PDF K. Abstract Stroke survivors can be affected by motor deficits in the hand. Keywords: hand exoskeleton, 3D printing, textiles, soft robotics, post-stroke, rehabilitation, brain-machine interface. Introduction Most of the activities of daily living ADLs directly involve hand motor skills. Hand Exoskeletons Exoskeletons for hand rehabilitation had received significant attention from the scientific community due to its ability of being a limb extension Franceschini et al.
Soft Robotics Soft Robotics aims to develop ergonomic and biocompatible devices by trying to mimic the biomechanics of living beings. Methods 2. Open in a separate window. Figure 1. Figure 2. Figure 3. Figure 4. Actuator Design HERO actuation system was developed in order to reduce costs and to test the potential of the FDM technique to build functional parts, but other commercial solutions could be used. Figure 5. Figure 6. Torque Requirements Typical ADLs, such as manipulating small objects with pinch and palmar grips, usually require forces up to 20 N at the fingertips Lambercy et al.
Figure 7. Actuators Mechanical Assessment Tests were performed to access actuators' mechanical capacity. Figure 8. Iso buster 2. Pinnacle Studio Plus v Ulead Video Studio Plus Zoner Photo Studio Professional v Acon Digital Media Studio Time 1.
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