Design, characterization and preliminary usability testing of a portable robot for unsupervised therapy of hand function

Introduction: There is evidence that increasing therapy dose after stroke might promote recovery. Unfortunately, in clinical practice, therapy dose is limited by financial and organizational constraints. Simple robotic devices could be used without supervision in the clinic or at home to increase dose without requiring additional resources. For this purpose, we developed HandyBot, a portable three-degrees-of-freedom end-effector haptic device to perform sensorimotor task-oriented therapy of hand function (i.e., grasping, forearm pronosupination, wrist flexion-extension) in different environments.