Kinematics of Unimpaired Reach-Grasp-Release During Robotic Assisted Reaching

摘要

Kinematics of normal reach-to-grasp function has been investigated, described and debated. Robotic devices are increasingly being used to promote upper limb rehabilitation following neurological disease or injury such as stroke but the kinematics of reach, grasp and release using this technology is largely unknown. The study aim was to characterize the kinematics of robotic (Armeo) assisted reaching and grasping in healthy people to compare against normal movement reaching and grasping as presented in the literature. Grip aperture scaling and time to maximum grip aperture in six healthy individuals were investigated during Armeo reachgrasp- release tasks. The results show that the Armeo did not interfere with ‘normal’ movement strategies during reach-tograsp tasks.