Table 2.
An overview of current designs of hand rehabilitation robots.
| Device | Reference | Subject | Hardware system | Training paradigm | Evaluation | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Study | Year | ID | Phase | Muscle status | Extent of stroke | Types of robots | Actuation | Transmission | Sensors | Training modalities | Movement patterns | Induction | Detected intention | Feedback | Experimental subject | ROM | Velocity | Force | Functional testing | Clinical scale | |
| Hexosys I | Iqbal et al. | 2010–2014 | [158] | N/A | N/A | N/A | Exoskeleton | Electrical motor | Linkage | Force/position sensor | P/AA | N/A | N/A | N/A | — | — | — | — | — | — | — |
| Hexosys II | Iqbal et al. | 2011 | [159] | N/A | N/A | N/A | Exoskeleton | Electrical motor | Linkage | Force/position sensor | P/AA | N/A | N/A | N/A | — | — | — | — | — | — | — |
| Hexorr | Schabowsky et al. | 2010 | [160] | N/A | N/A | N/A | Exoskeleton | Electrical motor | Linkage | Torque sensor | AS | N/A | N/A | N/A | — | — | — | — | — | — | |
| Handexos | Chiri et al. | 2009 | [53, 58] | N/A | N/A | N/A | Exoskeleton | Electrical motor | Cable, crank-slide | — | P/A | N/A | N/A | N/A | — | — | — | — | — | — | — |
| Handsome | Brokaw et al. | 2011 | [75] | N/A | Hypertonia | Severe to moderate | Exoskeleton | Spring | Linkage | Position sensor | AS | Functional level and activity level | N/A | N/A | — | 8 chronic patients | MAX ROM + 48.7° (P < 0.001) | Peak velocity + 67°/s (P = 0.004) Velocity of extension + 48°/s (P = 0.053) | Grip strength −3.7 N (P = 0.17) | Lifting larger block (P = 0.02) | — |
| Hand-assist robot | Ueki et al. | 2004–2014 | [39, 159–161] | Acute | N/A | N/A | Exoskeleton | Electrical motor/contralateral extremity | Linkage | Torque/force sensor | AA | Functional level | Mirrored motion VR | Joint angles of unaffected hand | Real-time state by VR | Healthy subjects | N/A | N/A | N/A | Self-control experiment | — |
| Sarakglou et al. | Sarakglou et al. | 2004 | [40] | N/A | N/A | N/A | Exoskeleton | Electrical motor | Linkage pull cables | Position/force sensor | AA | Activity level | VR | Force on hand | Real-time state by VR | — | — | — | — | Virtual tasks | — |
| Fingerbot | Cruz E G | 2010 | [164] | Chronic | Hemiparesis | N/A | End-effector | Spring/electrical motor | Linkage | Position/force | AS/A | — | — | — | — | 10 chronic patients | Larger active ROM | — | — | Greater accuracy in terms of reaching the target | — |
| Ramos | Ramos | 2009–2012 | [42] | Chronic | N/A | N/A | End-effector | Electrical motor | Cable | Position/force | P/AA/A | N/A | — | Intention in the brain | — | 23 health subjects | — | — | — | — | — |
| Mricr | Tang et al. | 2011–2013 | [165–168] | N/A | N/A | N/A | Exoskeleton | Ultrasonic motor | Linkage | Position | P/AA/A | Functional | — | Intention in the brain | — | — | — | — | — | — | — |
| AMADEO | Pinter D | 2010–2014 | [54, 169] | Acute/chronic/mixed | N/A | Moderate-to-high grade | End-effector | N/A | N/A | Position | P/AS/AA/A | Functional | VR | Position | Real-time state by VR | Multiple | — | — | — | Improved hand function | FM scores improved |
N/A: the content is not available; —: the design in the content is null; P: passive; A: active; AS: assistive; AA: active assistive; R: resistive.