C5-6 SCI MWDO Supplementary Material

Citation Author(s):
University of California, Berkeley
University of California, Berkeley
University of California, Berkeley
University of California, Berkeley
University of California, Berkeley
Submitted by:
Erin Chang
Last updated:
Wed, 11/01/2023 - 13:21
Data Format:
Link to Paper:
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Loss of hand function severely impacts the independence of people with spinal cord injuries (SCI) between C5 and C7. To achieve limited grasps or strengthen grip around small objects, these individuals commonly employ a compensatory technique to passively induce finger flexion by extending their wrist. Passive body-powered devices using wrist-driven actuation have been developed to assist this function, in addition to advancements in active robotic devices aimed at finger articulation for dexterous manipulation. Nevertheless, neither passive nor active devices see wide adoption and retention in the long-term. Here we present an unconventional system for combining aspects of both passive and active actuation and show that actively modulating the relationship between passive wrist and finger movement can impact both performance and kinematic metrics of upper body compensation. This study comprises six unique case studies of individuals with C5-6 SCI because morphology and response can vary widely across this population. While only some individuals' performance improved with the shared system over passive-only operation, all six participants stated that they preferred the shared system, regarding added motorization with a sense of trust and embodiment. This outcome motivates the ongoing study of how motors can alter body kinematics to augment body-power without replacing it.


This supplementary dataset includes 3 csv files containing a table of the movement times (S1), body joint ranges of motion (S2), and body segment Cartesian path lengths (S3) for the set of tasks performed by 6 subjects with C5-6 spinal cord injury, as well as 1 mp4 file containing a supplementary video. These files correspond to the manuscript, "Modulating Wrist-Hand Kinematics in Motorized Assisted Grasping with C5-6 Spinal Cord Injury."

Funding Agency: 
National Science Foundation
Grant Number: 
DGE 2146752