# Thumb Stabilization and Assistance in a Robotic Hand Orthosis for Post-Stroke Hemiparesis

arXiv: https://arxiv.org/abs/2110.02258 · HTML: https://mlsanity.com/paper/2110.02258/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Oct 2021.

## Built on by (most cited first, 2 of 2)

- [ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke](https://mlsanity.com/paper/2406.12123/) (2024)
- [Reciprocal Learning of Intent Inferral with Augmented Visual Feedback for Stroke](https://mlsanity.com/paper/2412.07956/) (2024)

## Abstract (arXiv)

We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network adds opposition/reposition capabilities to the thumb, and increases the likelihood of forming a hand pose that can successfully manipulate objects. In addition to a passive-thumb version (where both cables are of fixed length), our approach also allows for a single-actuator active-thumb version (where the extension cable is actuated while the abductor remains passive), which allows a range of motion intended to facilitate creating and maintaining grasps. We performed experiments with five chronic stroke survivors consisting of unimanual resistive-pull tasks and bimanual twisting tasks with simulated real-world objects; these explored the effects of thumb assistance on grasp stability and functional range of motion. Our results show that both active- and passive-thumb versions achieved similar performance in terms of improving grasp force generation over a no-device baseline, but active thumb stabilization enabled users to maintain grasps for longer durations.