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Cited by 18Stroke Rehabilitation and RecoveryTeleoperation and Haptic SystemsMotor Control and Adaptation

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Towards a modified consumer haptic device for robotic-assisted fine-motor repetitive motion training

Palsbo, Susan E., Marr, Deborah, Streng, Taylor, Bay, Brian K., Norblad, A. Walter·2011·Disability and Rehabilitation: Assistive Technology
DOI 10.3109/17483107.2010.532287
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Abstract

PURPOSE: To develop, test and evaluate affordable haptic technology to provide robotic-assisted repetitive motion fine-motor training. METHODS: A haptic computer/user interface was modified by adding a pantograph to hold a pen and to increase the haptic workspace. Custom software moves a pen attached to the device through prescribed three-dimensional (3D) stroke sequences to create two-dimensional glyphs. The pen's position is recorded in 3D coordinates at 1 kHz. Twenty-one healthy child volunteers were taught a standard handwriting curriculum in a group setting, two times per week for 45-60 min each session over 8 wks. The curriculum was supplemented by the device under the supervision of occupational therapy students. Outcomes were measured using the Evaluation Tool of Children's Handwriting (ETCH), and the Beery-Buktenica Developmental Test of visual-motor integration. RESULTS: Word legibility made significant gains on near point copying task (p=0.04; effect size=0.95). Letter legibility made no significant improvement. One healthy volunteer with illegible handwriting improved significantly on 8 of 14 ETCH measures. The children found the device engaging, but made several recommendations to redesign the pantograph and scribing movements. CONCLUSIONS: A consumer haptic device can be modified for robotic-assisted repetitive motion training for children. The device is affordable, portable, and engaging. It is safe for healthy volunteers. Objective time-stamped data offer the potential for telerehabilitation between a remote therapist and the school or home.

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Metadata

Authors
Palsbo, S. E., Marr, D., Streng, T., Bay, B. K., & Norblad, A. W.
Affiliations
  • George Mason University (US)
  • Shenandoah University (US)
  • Oregon State University (US)
Corresponding author
Palsbo, Susan E.
ORCID
Bay, Brian K.
Venue
Disability and Rehabilitation: Assistive Technology
Publisher
Informa UK Limited
Published
2011-06-08
Volume
6
Issue
6
Pages
546-551
ISSN
  • 1748-3107 (ISSN-L)
  • 1748-3115
DOI
10.3109/17483107.2010.532287
OpenAlex
W2064977298
Cited by
18
References
4
Citations by year
2025: 1 · 2024: 3 · 2023: 2 · 2021: 2 · 2020: 1 · 2019: 1 · 2018: 1 · 2017: 1 · 2015: 2 · 2014: 1 · 2013: 1 · 2012: 2
FWCI
1.00
Type
journal article
Language
en
Open access
closed
Locations
  • Disability and Rehabilitation Assistive Technology (publishedVersion)
  • PubMed (publishedVersion)
Topics
  • Health Sciences › Medicine › Rehabilitation › Stroke Rehabilitation and Recovery
  • Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
  • Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
Keywords
haptic devices, fine motor skills, handwriting, children, pantograph, consumer technology, occupational therapy, visual-motor integration, letter legibility, telerehabilitation, low-cost rehabilitation
MeSH terms
Curriculum, Humans, Motor Skills, Pilot Projects, Robotics, Software, Statistics as Topic, User-Computer Interface, Computer Peripherals, Telemedicine

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CoChat. (2026). Citation check: Towards a modified consumer haptic device for robotic-assisted fine-motor repetitive motion training. https://app.cochat.ai/papers/10.3109/17483107.2010.532287
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Palsbo, S. E., Marr, D., Streng, T., Bay, B. K., & Norblad, A. W. (2011). Towards a modified consumer haptic device for robotic-assisted fine-motor repetitive motion training. Disability and Rehabilitation: Assistive Technology. https://doi.org/10.3109/17483107.2010.532287