This presentation was published in March 2017 during National Conference of Orthotic Prosthetic Association of India. This presentation includes the recent robotic research trend present in the field for the persons who are less muscle power, Hemiplegics etc.

1. Leading the World
Towards
Robotic Function in
Hand Restoration
BY-
PRIYANKA RAWAT, III YEAR, PDU NIPPD
ROHAN GUPTA , III YEAR, PDU NIPPD
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2. INTRODUCTION
WHO suggests that more
than a billion people in the
world today experience
disability.
Hand and Upper extremity
disuse can create many
pitfalls.
Patient may develop fear and
depression with a loss of
social roles.
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3. CAUSES of UL Disability
Trauma
-spinal cord injuries
-stroke
Congenital
-cerebral palsy
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4. Upper Extremity: A Quick Glance
Shoulder Girdle/Pectoral Girdle.
Glenohumeral Joint /Shoulder Joint.
Arm Proper/Brachium/Upper arm.
Forearm/Antebrachium.
Wrist/Carpus.
Hand/Manus.
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5. Functions of Hand
 Prehension activities of the hand involve the grasping or
taking hold of an object between any two surfaces in the
hand.
 Prehension is divided into 2 categories:
1) Power Grip 2)Precision Grip.
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6. POWER GRIP
• Forceful act resulting in flexion at
all finger joint.
• palm contours the object shape
PRECISION GRIP
• It requires finer function of hand
• It includes Tip, Pad and Side of the
fingers
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7. Hand Deformities
Deformity/
Injury
Nerve
Affected
Muscles
/Tendon
Affected
Movement
involved
Figure
Claw Hand Ulnar Nerve Medial two
lumbricals
Hyperextension
of MCP jt.
Flexion of IP jt.
Ape Hand Median Nerve Opponens
Pollicis
Thenar
Thumb
abduction
Wrist Drop Radial Nerve Wrist
extensors
Wrist
extension
De Quervains
Teno-
Synovitis
Idiopathic Abductor
Pollicis
Longus
Extensor
Pollicis Brevis
Thumb
Extension
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8. HAND SPLINTS
Knuckle Bender Splint
Volar forearm static wrist hand orthosis
Wrist driven Prehension Orthosis
Long Opponens Splint
Reciprocal Orthosis
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9. Knuckle Bender Splint
 Knuckle bender splint is given in claw
hand deformity.
 In which,MCP joints goes into
hyperextension and PIP and
DIP joint goes in flexion.
 The splint provides a force
system in which 3
forces act on it .
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10. Volar forearm static wrist hand
orthosis
 Objective of this splint is
to place the hand and
wrist in neutral or
functional position
 wrist is in slight
extension to neutral
 Applied from Volar
palmer crease to 2/3
forearm
 Allows Elbow and Finger
ROM
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11. Wrist driven Prehension Orthosis
 Designed for clients with
spinal cord injury at C6-7
level
 Objectives-
 To train Tenodesis Grasp
 To promote a Strong
Tripod Pinch with Wrist
Extension
 Allow Finger Opening
with Wrist Flexion
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12. Long Opponens Splint
 Made from low temp.
thermoplastics
 Designed to immobilize the
first CMC and MCP joints and
position the thumb in
opposition and extension to
maintain the web space
 Bulky in nature
 Provides rest and support
 Protection of Thumb and
Wrist
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13. Reciprocal Orthosis
 Thumb is fixed in a slightly
opposed position with a
non-mobile splint
 Index finger and middle
finger are put in a mobile
splint.
 Voluntary wrist extension
 During the passive flexion of
the wrist the index and
middle fingers are extended
in the MP joint and the
orthosis opens
 Hold a glass in his dominant
hand
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14. Current Scenario
 Orthotic management of such patients are confined to
the fitting of a static or dynamic hand-wrist Orthosis.
Recent Scenario
 Recent robotic devices have the potential to address this
problem as noted by recent research studies.
Exo-Glove Poly
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15. Development
 Exo means ‘outside’ and Poly refers to polymer.
 Kyujin Cho at Seoul National University has developed the
Exo-Glove Poly.
 Inspired by human anatomy, this flexible, rubber-like robotic
glove is superior to bulky exoskeletons, rigid frame hand
orthosis.
 Cho plans to commercialise the product by the end of 2017.
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16. Indications
 People suffering from hand
paralysis due to :
- Spinal Cord Injuries
- Stroke
- Cerebral Palsy
- Tetraplegia
 Those people who are unable to
perform simple task like:
-Opening of door.
 Medium to Low level Spasticity
 Higher Finger Spasticity is
Contradictory
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17. Features
 It provides thumb
abduction for better
grasping.
 It provides Wire
Shielding for safety.
 It works under-
actuation mechanism.
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18. Contd.
 The motor, controlled by a
simple switch, pulls on the
wires to open and close
the hand.
 Design features allow
adjustment to different
hand sizes.
 Follows 3-jaw chuck
principle.
-index finger.
-middle finger
- thumb.
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19. Mechanism
 Uses a conventional differential mechanism.
 Exo-Glove has two tendons for each finger and the
thumb.
 Several types of straps form the pulley.
-supporting structures that form the origin of the
muscles .
-To generate an appropriate finger trajectory for
different users.
- the tendon path of the routing system can be adjusted
by changing the length and position of the fabric straps.
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20. Contd.
 Exo-Glove uses a mechanism developed for adaptive
grasping in under actuated soft wearable robots.
 U-shaped tubes were installed at the tips of the index and
middle fingers and between the fingers.
 U-shaped tubes were used because a mechanical pulley is
unsuitable for a soft wearable robot.
 To flex the fingers the motor winds the spool.
 The mechanism therefore also enables adaptation when the
glove is in contact with an uneven surface.
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21. Specifications
 Compact
 Light weight : 194g
 ADL's performance:
- a pinch force of 20N.
- a wrist grasp force of 40N
-maximum grasped object size of 77mm
 Made of Polymer.
 Washable
 Flexible
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22. Meaning to life
 The light weight and transparent form of this glove
provides :
- Functional Independence to perform ADL
- psychological acceptance of device
- Social interaction increases
- increase in public participation
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23. Conclusion
 The main goal of this paper was to compare the exo-glove
poly with various other mechanical hand orthosis in order
to achieve robotic functions in hand restoration.
 We hope that this technology will be soon available to all
the needy patients with economic price as the cost of this
device is yet to be decided.
 As it has the ability to enhance the independence of the
patient to do the works or activities of daily living.
 It also address the better life style by improvising the social
and personal life of the patient .
 This glove is more advantageous as it solve the purpose of
hand function restoration
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24. Thank You… Now have a Break and
Water
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