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Quantification and analysis of hand grasp dynamics and arm reaching kinematics following hemiparesis using a novel assistive robotics approach

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TitleInfo
Title
Quantification and analysis of hand grasp dynamics
and arm reaching kinematics following hemiparesis
using a novel assistive robotics approach
Name (type = personal)
NamePart (type = family)
Kim
NamePart (type = given)
Nam-Hun
DisplayForm
Nam-Hun Kim
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Craelius
NamePart (type = given)
William
Affiliation
Advisory Committee
DisplayForm
William Craelius
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RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Semmlow
NamePart (type = given)
John
Affiliation
Advisory Committee
DisplayForm
John L. Semmlow
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RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Drzewiecki
NamePart (type = given)
Gary
Affiliation
Advisory Committee
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Gary M. Drzewiecki
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Carmody
NamePart (type = given)
Dennis
Affiliation
Advisory Committee
DisplayForm
Dennis Carmody
Role
RoleTerm (authority = RULIB)
outside member
Name (type = personal)
NamePart (type = family)
Newby
NamePart (type = given)
Nicki
Affiliation
Advisory Committee
DisplayForm
Nicki Ann Newby
Role
RoleTerm (authority = RULIB)
outside member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School-New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2007
DateOther (qualifier = exact); (type = degree)
2007
Language
LanguageTerm (authority = ISO 639-3:2007); (type = text)
English
PhysicalDescription
Form (authority = marcform)
electronic
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application/pdf
InternetMediaType
text/xml
Extent
xii, 77 pages
Abstract (type = abstract)
Conventional upper extremity rehabilitation methods provide limited choices for training regimes with poor recovery outlook in regaining motor ability for persons with stroke, compared much wider and elaborative lower limb training options. Moreover, the existing upper limb rehabilitation paradigms often focus only on bulk motions with maximal force generation, neglecting on a more fine motor control over the whole spectrum of various force levels. Considering the fact that the focus on the upper extremity should be based on the finer control than lower extremity, an imbalance exists in the current rehabilitation regime. To balance this shortcoming and to achieve better overall results in rehabilitation training regime, a more refined and well-designed training system is required to ensure more practical and effective outcome with finer motor control as well as to quantitatively address the theoretical aspects of motor control.
To address these issues in terms of developing a better rehabilitation platform as well as to deliver more quantifiable metrics, this study investigated application and development of a novel upper limb rehabilitation training system for the restoration of daily fine motor function for hemiparetic persons using assistive robotic approaches on rehabilitation instrumentation to effectively quantify human kinetic and dynamic motor functions at the elbow, forearm, and hand.
Conventional Fitts' speed vs. accuracy trade-off (SAT) test was adapted for this research for both kinematic and dynamic aspects of human motor control. First, kinematic speed vs. accuracy trade-off (KSAT) test was performed at the elbow flexion and extension level, then dynamic speed vs. accuracy trade-off (DSAT) test was performed at the palmar force level, both with visual feedback.
Specifically, four hypotheses will be tested in this research: (1) Stroke groups' log-linearity trend from KSAT test will follow Fitts' law with differing slopes from normal groups' performance. (2) Second hypothesis will test normal groups' log-linearity from DSAT test to see whether the dynamic aspects of Fitts' paradigm will correlate to conventional kinematic Fitts' type behavior. (3) Third hypothesis will test on the reproducibility of the direct hand grip force from extrinsic force signals at the forearm to see the functionality of the force myography (FMG) which detects extrinsic force signals at the end-effector sites. (4) Last hypothesis will test the stroke group's improvements in terms of important functional metrics produced by the devices to show the efficacy of the system.
The overall system is called HARI (Hand and Arm Rehabilitation Interface) with accompanying subcomponents; MAST (Mechanical Arm Supporter and Tracker) for the base platform and lower arm movement detection with the embedded goniometer at the elbow, FMG (Force Myography) cuff sleeve for forearm musculature detection, and the Gripper for direct hand grip force detection. Instrumental development for HARI as a whole upper-limb rehabilitation system was successful, that all the individual
sub-devices were able to gather a reliable and repeatable, high quality physiological data with good signalto-noise (SNR) as well as excellent patient comfortness, to the level of imminent marketability for hospital, laboratory, or home settings, as an efficient and innovative rehabilitation tool.
Keywords - stroke, hemiparesis, paralysis, upper limb rehabilitation, kinematic, dynamic, Fitts' Law,
fine-motor control.
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references (p. 72-75).
Subject (authority = RUETD)
Topic
Biomedical Engineering
Subject (authority = ETD-LCSH)
Topic
Mechanotherapy
Subject (authority = ETD-LCSH)
Topic
Therapeutics, Physiological
Subject (authority = ETD-LCSH)
Topic
Medical rehabilitation
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Identifier (type = hdl)
http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.13477
Identifier
ETD_216
Identifier (type = doi)
doi:10.7282/T36110S0
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Genre (authority = ExL-Esploro)
ETD doctoral
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The author owns the copyright to this work.
Copyright
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Copyright protected
Availability
Status
Open
AssociatedEntity (AUTHORITY = rulib); (ID = 1)
Name
Nam-Hun Kim
Role
Copyright holder
Affiliation
Rutgers University. Graduate School-New Brunswick
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Detail
Non-exclusive ETD license
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License
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Author Agreement License
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I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
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