SCRIPT Passive Orthosis: Design and technical evaluation of the wrist and hand orthosis for rehabilitation training at home

In this paper, a new hand and wrist exoskeleton design, the SCRIPT Passive Orthosis (SPO), for the rehabilitation after stroke is presented. The SPO is a wrist, hand, and finger orthosis that assists individuals after stroke that suffer from impairments caused by spasticity and abnormal synergies. These impairments are characterized in the wrist and hand by excessive involuntary flexion torques that make the hand unable to be used for many activities in daily life. The SPO can passively offset these undesired torques, but it cannot actively generate or control movements. The user needs to use voluntary muscle activation to perform movements and thus needs to have some residual muscle control to successfully use the SPO. The SPO offsets the excessive internal flexion by applying external extension torques to the joints of the wrist and fingers. The SPO physically interacts with the users using the forearm shell, the hand plate and the digit caps from the Saebo Flex, but is otherwise a completely novel design. It applies the external extension torques via passive leaf springs and elastic tension cords. The amount of this support can be adjusted to provide more or less offset force to wrist, finger, or thumb extension, manually. The SPO is equipped with sensors that can give a rough estimate of the joint rotations and applied torques, sufficient to make the orthosis interact with our interactive gaming environment. Integrated inertial and gyroscopic sensors provide limited information on the user's forearm posture. The first home-based patient experiences have already let to several issues being resolved, but have also made it clear that many improvement are still to be made.