A robotic interface to train grip strength, grip coordination and finger extension following stroke

A two degree of freedom robotic interface was developed to assist with rehabilitation of three hand impairments following stroke: reduced grip strength, reduced finger extension, and loss of dexterity due to the lack of coordination between finger and wrist muscles. The design and performance characteristics of this interface, which takes advantage of an FPGA-based real-time platform, are discussed. The robotic interface is able to accurately render elastic and viscous loads. Preliminary trials with healthy subjects demonstrate the use of the device.