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Recently, extratheses, aka Supernumerary Robotic Limbs (SRLs), are emerging as a new trend in the field of assistive and rehabilitation devices. We proposed the SoftHand X, a system composed of an anthropomorphic soft hand extrathesis, with a gravity support boom and a control interface for the patient. In preliminary tests, the system exhibited a positive outlook toward assisting impaired people during daily life activities and fighting learned-non-use of the impaired arm. However, similar to many robot-aided therapies, the use of the system may induce side effects that can be detrimental and worsen patients' conditions. One of the most common is the onset of alternative grasping strategies and compensatory movements, which clinicians absolutely need to counter in physical therapy. Before embarking in systematic experimentation with the SoftHand X on patients, it is essential that the system is demonstrated not to lead to an increase of compensation habits. This paper provides a detailed description of the compensatory movements performed by healthy subjects using the SoftHand X. Eleven right-handed healthy subjects were involved within an experimental protocol in which kinematic data of the upper body and EMG signals of the arm were acquired. Each subject executed tasks with and without the robotic system, considering this last situation as reference of optimal behavior. A comparison between two different configurations of the robotic hand was performed to understand if this aspect may affect the compensatory movements. Results demonstrated that the use of the apparatus reduces the range of motion of the wrist, elbow and shoulder, while it increases the range of the trunk and head movements. On the other hand, EMG analysis indicated that muscle activation was very similar among all the conditions. Results obtained suggest that the system may be used as assistive device without causing an over-use of the arm joints, and opens the way to clinical trials with patients.

Analysis of Compensatory Movements Using a Supernumerary Robotic Hand for Upper Limb Assistance