Robotic system for training of grasping and reaching

Abstract

This paper presents the HEnRiE device (Haptic environment for reaching and grasping exercises). HEnRiE is designed to be used for use for training of reaching, grasping and transporting virtual objects in haptic environments. The motivation was to develop a single system that retrains both hand grasping and releasing movements (which are essential to perform activities of daily living) and arm movements. The system combines a haptic interface and a grasping device, which is mounted on the end-effector of the haptic interface. Experiments with six healthy subjects and a series of experimental training sessions with two hemiparetic subjects will be presented. Both hemiparetic subjects were able to successfully complete the experimental training. Results show that the basic mechanism of grasp and load force coordination and control appear to remain preserved in a virtual task.