Hannah Stuart, UC Berkeley - Talk Abstract

"Fusing body-power with robotic actuation in wearable grasp assistance for people with cervical spinal cord injury"

Abstract:

Cervical spinal cord injury leads to reductions in hand function – finger mobility, strength, sensitivity – that negatively impact grasping ability and living independence. However, people with this condition frequently abandon robotic hand orthotics and exoskeletons intended to improve such function. We examine an uncommon and promising format for wearable devices that combines body-powered grasping with modern robotic elements to enable co-grapsing. Our work characterizes the perception and agency of subjects exposed to such systems in the context of both preference and function. Prior literature emphasizes the ability of robotic actuators to increase grasp strength directly, motivated by finger paralysis. However, our findings indicate that people with partial remaining motor function of the hands and arms instead benefit from robotic actuation focused on limb mobility, shifting design priorities.