Bob Radder

User-centred input for a wearable soft-robotic glove supporting hand function in daily life

Many stroke patients and elderly have a reduced hand function, resulting in difficulties with independently performing activities of daily living (ADL). Assistive technology is a promising alternative to support the upper limb in performing ADL. To avoid device abandonment, end-users should be involved early in the design and development phase to identify user requirements for assistive technology. The present study applies a user-centred approach to identify user requirements for wearable soft-robotic gloves targeted at physical support of hand function during ADL for elderly and stroke patients. Elderly, stroke patients and healthcare professionals, participating in focus groups, specified requirements regarding: 1) activities that need support of assistive technology, 2) design of wearable robotic devices for hand support, and 3) application of assistive technology as training tool at home. Assistive technology for the support of the hand is considered valuable by users for assisting ADL, but only if the device is wearable, compact, lightweight, easy to use, quickly initialized, washable and only supports the particular function(s) that an individual need(s) assistance with, without taking over existing function(s) from the user.

Preliminary Findings of Feasibility of a Wearable Soft-robotic Glove Supporting Impaired Hand Function in Daily Life

Elderly people frequently encounter difficulties in independently performing activities of daily living (ADL) due to a reduced hand function. Robotic assistive devices have the potential to provide the assistance that is necessary to perform ADL independently without the need of personal assistance. Therefore, the objective of the present study was to explore feasibility of a wearable soft-robotic glove (ironHand (iH) system) that can support hand function of elderly people in daily life. Thirty elderly people (>56 years) with a reduced hand function resulting in difficulties in performing ADL were recruited to perform six functional tasks three times with and without the iH system. Evaluation measurements consisted of functional tasks performance times and user-acceptance of the iH system, measured by the System Usability Scale (SUS). Participants improved their functional task performance after multiple attempts either with and without the glove, but performed significantly faster without the glove (p≤0.032). Besides, the mean of the SUS score for the iH system was 70.1%. Although this indicates a good probability for acceptance in the field, several design adaptations are necessary to have a user-friendly and accepted assistive device.

A wearable soft-robotic glove enables hand support in ADL and rehabilitation: A feasibility study on the assistive functionality

Background Elderly people frequently experience a decline in hand function, due to ageing or diseases. This leads to decreased independence in activities of daily living (ADL). Assistive technology may enhance independence. Objectives The objective of this paper was to explore user acceptance of an affordable wearable soft-robotic glove (ironHand (iH) system), that supports grip and hand opening in ADL. In addition, functional performance with the iH system was explored. Methods For this study 28 elderly people used the iH system across two sessions. During these sessions, participants performed six functional tasks with and without the iH system. Outcome measures were System Usability Scale (SUS), Intrinsic Motivation Inventory (IMI) and performance time of the functional tasks. Results User acceptance scored highly, with a mean SUS score of at least 63.4 (SD = 19.0) and a mean IMI score of 5.1 points (SD = 0.97 points). Functional task performance improved across repetitions both with and without the glove (p ≤ 0.017), but all functional tasks were performed faster without the glove (p ≤ 0.032). Conclusion Participants perceived the iH system as useful, pleasant and meaningful. The learning curve in functional performance time (improvements across repetitions) is promising, since it suggests there is room for improved performance when a longer acquaintance period is applied.

Preliminary Evaluation of a Wearable Soft-Robotic Glove Supporting Grip Strength in ADL

In the ongoing ironHand (iH) project, a wearable soft-robotic glove, the iH system, is being developed to support the hand during daily functioning. This study gives a first insight in the potential effect of the glove in daily life. Preliminary results show that participants can increase their pinch grip strength with assistance of the glove, but functional tasks were performed slower with the glove compared to performing these tasks without the glove. Overall, usability of the iH system was perceived as good. More research is needed to determine the impact of the iH system in daily life.

The effect of a wearable soft-robotic glove on motor function and functional performance of older adults

ABSTRACT Reduced grip strength, resulting in difficulties in performing daily activities, is a common problem in the population of older adults. Newly developed soft-robotic devices have the potential to support older adults with reduced grip in daily activities. The objective of this study was to evaluate the direct, assistive effect of grip support from the wearable, soft-robotic ironHand glove. In total, 65 older adults with self-reported decline of hand function resulting from various disorders participated in this cross-sectional study. They performed various hand function tests with and without the glove during a single session. At the end, usability was scored. Participants were able to produce more pinch strength with the glove compared to without glove (p ≤ 0.001) and usability was rated very positively. However, this was not reflected in improved functional performance with the glove, as measured with timed tasks (p < 0.001). Furthermore, no correlation was found between baseline handgrip strength and changes in performance (between without and with glove) of all assessments (ρ ≤ 0.137, p ≥ 0.288). Further design adaptations are desired and more research is needed to investigate if performance with the glove can improve, when taking quality of task performance into account, or when applying a longer acquaintance period with the glove.

Applying a soft-robotic glove as assistive device and training tool with games to support hand function after stroke: Preliminary results on feasibility and potential clinical impact

Recent technological developments regarding wearable soft-robotic devices extend beyond the current application of rehabilitation robotics and enable unobtrusive support of the arms and hands during daily activities. In this light, the HandinMind (HiM) system was developed, comprising a soft-robotic, grip supporting glove with an added computer gaming environment. The present study aims to gain first insight into the feasibility of clinical application of the HiM system and its potential impact. In order to do so, both the direct influence of the HiM system on hand function as assistive device and its therapeutic potential, of either assistive or therapeutic use, were explored. A pilot randomized clinical trial was combined with a cross-sectional measurement (comparing performance with and without glove) at baseline in 5 chronic stroke patients, to investigate both the direct assistive and potential therapeutic effects of the HiM system. Extended use of the soft-robotic glove as assistive device at home or with dedicated gaming exercises in a clinical setting was applicable and feasible. A positive assistive effect of the soft-robotic glove was proposed for pinch strength and functional task performance ‘lifting full cans’ in most of the five participants. A potential therapeutic impact was suggested with predominantly improved hand strength in both participants with assistive use, and faster functional task performance in both participants with therapeutic application.

User Acceptance of a Therapeutic System that Enables Hand Training Exercises in a Motivating Environment

In this study, a wearable soft-robotic glove that is connected to a computer with therapeutic software to train hand function (the ironHand therapeutic system, iH TS) is introduced. This study explored usability of the iH TS after first use without receiving instructions from researchers. The results on the System Usability Scale (SUS) are promising for acceptance of the iH TS in daily life (mean SUS score = 66.4). More research is needed to determine user acceptance and the effects of the therapeutic hand exercises after a longer acquaintance period.