Fine finger motor skill training with exoskeleton robotic hand in chronic stroke: Stroke rehabilitation

Corinna Ockenfeld, Raymond K.Y. Tong, Evan A. Susanto, Sze Kit Ho, Xiaoling Hu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

23 Citations (Scopus)


Background and Purpose. Stroke survivors often show a limited recovery in the hand function to perform delicate motions, such as full hand grasping, finger pinching and individual finger movement. The purpose of this study is to describe the implementation of an exoskeleton robotic hand together with fine finger motor skill training on 2 chronic stroke patients. Case Descriptions. Two post-stroke patients participated in a 20-session training program by integrating 10 minutes physical therapy, 20 minutes robotic hand training and 15 minutes functional training tasks with delicate objects(card, pen and coin). These two patients (A and B) had cerebrovascular accident at 6 months and 11 months respectively when enrolled in this study. Outcomes. The results showed that both patients had improvements in Fugl-Meyer assessment (FM), Action Research Arm Test (ARAT). Patients had better isolation of the individual finger flexion and extension based on the reduced muscle co-contraction from the electromyographic(EMG) signals and finger extension force after 20 sessions of training. Discussion. This preliminary study showed that by focusing on the fine finger motor skills together with the exoskeleton robotic hand, it could improve the motor recovery of the upper extremity in the fingers and hand function, which were showed in the ARAT. Future randomized controlled trials are needed to evaluate the clinical effectiveness.
Original languageEnglish
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
Publication statusPublished - 31 Dec 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United States
Duration: 24 Jun 201326 Jun 2013


Conference2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
Country/TerritoryUnited States
CitySeattle, WA


  • EMG
  • exoskeleton
  • stroke rehabilitation
  • therapeutic robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation
  • Medicine(all)

Cite this