Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability
Abstract Background Effective rehabilitation of the upper extremity function is vital for individuals recovering from stroke or cervical spinal cord injury, as it can enable them to regain independence in daily tasks. While robotic therapy provides precise and consistent motor training, it often lac...
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BMC
2025-05-01
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| Series: | BioMedical Engineering OnLine |
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| Online Access: | https://doi.org/10.1186/s12938-025-01384-7 |
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| author | Aisha Raji Stephanie DiNunzio Andrew Whitmell Cesar Marquez-Chin Milos R. Popovic |
| author_facet | Aisha Raji Stephanie DiNunzio Andrew Whitmell Cesar Marquez-Chin Milos R. Popovic |
| author_sort | Aisha Raji |
| collection | DOAJ |
| description | Abstract Background Effective rehabilitation of the upper extremity function is vital for individuals recovering from stroke or cervical spinal cord injury, as it can enable them to regain independence in daily tasks. While robotic therapy provides precise and consistent motor training, it often lacks the integration of real-world objects that stimulate sensorimotor experiences. The Toronto Rehabilitation Institute—Hand Function Test (TRI-HFT) utilizes 19 everyday items to assess hand function. This study aims to modify the 3D-printed TRI-HFT objects to ensure their compatibility with robotic manipulation, thereby enhancing the functional relevance of robot-assisted rehabilitation, and to evaluate the usability of the new robotic system to ensure its safety and technical performance. Results We successfully redesigned the 3D-TRI-HFT objects to enable manipulation by a robotic arm equipped with a gripper. The modified 3D-printed objects closely matched the original specifications, with most weight and size deviations within acceptable limits. Performance tests demonstrated reliable robotic manipulation, achieving a 100% success rate in 50 pick-and-place trials for each object without any breakage or slippage. Usability assessments further supported the system’s performance, indicating that participants found the system engaging, useful, and comfortable. Conclusions The modified 3D-printed TRI-HFT objects allow seamless integration into robotic therapy, facilitating the use of real-world objects in rehabilitation exercises. These modifications enhance functional engagement without compromising user interaction with the objects, demonstrating the feasibility of combining traditional rehabilitation tools with robotic systems, potentially leading to improved outcomes in upper extremity rehabilitation. Future research may focus on adapting these designs for compatibility with a broader range of robotic equipment, reducing the cost of the objects as 3D printing technology advances, and evaluating the system’s performance among individuals with stroke and SCI. |
| format | Article |
| id | doaj-art-a049599e0daf466aa68fddcfdce3fe40 |
| institution | Kabale University |
| issn | 1475-925X |
| language | English |
| publishDate | 2025-05-01 |
| publisher | BMC |
| record_format | Article |
| series | BioMedical Engineering OnLine |
| spelling | doaj-art-a049599e0daf466aa68fddcfdce3fe402025-08-20T03:53:13ZengBMCBioMedical Engineering OnLine1475-925X2025-05-0124111910.1186/s12938-025-01384-7Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usabilityAisha Raji0Stephanie DiNunzio1Andrew Whitmell2Cesar Marquez-Chin3Milos R. Popovic4KITE Research Institute, Toronto Rehabilitation Institute, University Health NetworkKITE Research Institute, Toronto Rehabilitation Institute, University Health NetworkKITE Research Institute, Toronto Rehabilitation Institute, University Health NetworkKITE Research Institute, Toronto Rehabilitation Institute, University Health NetworkKITE Research Institute, Toronto Rehabilitation Institute, University Health NetworkAbstract Background Effective rehabilitation of the upper extremity function is vital for individuals recovering from stroke or cervical spinal cord injury, as it can enable them to regain independence in daily tasks. While robotic therapy provides precise and consistent motor training, it often lacks the integration of real-world objects that stimulate sensorimotor experiences. The Toronto Rehabilitation Institute—Hand Function Test (TRI-HFT) utilizes 19 everyday items to assess hand function. This study aims to modify the 3D-printed TRI-HFT objects to ensure their compatibility with robotic manipulation, thereby enhancing the functional relevance of robot-assisted rehabilitation, and to evaluate the usability of the new robotic system to ensure its safety and technical performance. Results We successfully redesigned the 3D-TRI-HFT objects to enable manipulation by a robotic arm equipped with a gripper. The modified 3D-printed objects closely matched the original specifications, with most weight and size deviations within acceptable limits. Performance tests demonstrated reliable robotic manipulation, achieving a 100% success rate in 50 pick-and-place trials for each object without any breakage or slippage. Usability assessments further supported the system’s performance, indicating that participants found the system engaging, useful, and comfortable. Conclusions The modified 3D-printed TRI-HFT objects allow seamless integration into robotic therapy, facilitating the use of real-world objects in rehabilitation exercises. These modifications enhance functional engagement without compromising user interaction with the objects, demonstrating the feasibility of combining traditional rehabilitation tools with robotic systems, potentially leading to improved outcomes in upper extremity rehabilitation. Future research may focus on adapting these designs for compatibility with a broader range of robotic equipment, reducing the cost of the objects as 3D printing technology advances, and evaluating the system’s performance among individuals with stroke and SCI.https://doi.org/10.1186/s12938-025-01384-7StrokeSpinal cord injury (SCI)Robotic rehabilitationUpper extremity3D printingToronto Rehabilitation Institute—Hand Function Test (TRI-HFT) |
| spellingShingle | Aisha Raji Stephanie DiNunzio Andrew Whitmell Cesar Marquez-Chin Milos R. Popovic Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability BioMedical Engineering OnLine Stroke Spinal cord injury (SCI) Robotic rehabilitation Upper extremity 3D printing Toronto Rehabilitation Institute—Hand Function Test (TRI-HFT) |
| title | Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability |
| title_full | Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability |
| title_fullStr | Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability |
| title_full_unstemmed | Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability |
| title_short | Modification of the toronto rehabilitation institute—hand function test for integration into robot-assisted therapy: technical validation and usability |
| title_sort | modification of the toronto rehabilitation institute hand function test for integration into robot assisted therapy technical validation and usability |
| topic | Stroke Spinal cord injury (SCI) Robotic rehabilitation Upper extremity 3D printing Toronto Rehabilitation Institute—Hand Function Test (TRI-HFT) |
| url | https://doi.org/10.1186/s12938-025-01384-7 |
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