Roger Gassert

ETH Zurich | ETH Zürich · Department of Health Sciences and Technology

Background Robotic hand orthoses (RHO) aim to provide grasp assistance for people with sensorimotor hand impairment during daily tasks. Many of such devices have been shown to bring a functional benefit to the user. However, assessing functional benefit is not sufficient to evaluate the usability of such technologies for daily life application. A c...

Most of the power for generating forces in the fingers arises from muscles located in the forearm. This configuration maximizes finger joint range of range of motion while minimizing finger mass and inertia. The resulting multiarticular arrangement of the tendons, however, complicates independent control of the wrist and the digits. Actuating the w...

Parkinsonian motor symptoms are linked to pathologically increased beta oscillations in the basal ganglia. Studies with externalised deep brain stimulation electrodes showed that Parkinson patients were able to rapidly gain control over these pathological basal ganglia signals through neurofeedback. Studies with fully implanted deep brain stimulati...

The knowledge of the distribution of sleep and wake over a 24-h day is essential for a comprehensive image of sleep-wake rhythms. Current sleep-wake scoring algorithms for wrist-worn actigraphy suffer from low specificities, which leads to an underestimation of the time staying awake. The goal of this study (ClinicalTrials.gov Identifier: NCT033569...

Objective: Adults with autosomal recessive spastic ataxia of Charlevoix-Saguenay (ARSACS) often present with reduced upper limb coordination affecting their independence in daily life. Previous studies in ARSACS identified reduced performance in clinical assessments requiring fine and gross dexterity as well as prehension. However, the kinematic a...

Introduction: Robot-assisted neurorehabilitation is becoming an established method to complement conventional therapy after stroke and provide intensive therapy regimes in unsupervised settings (e.g., home rehabilitation). Intensive therapies may temporarily contribute to increasing muscle tone and spasticity, especially in stroke patients presenti...

Wearable robotic devices (WRD) are still struggling to fulfill their vast potential. Inadequate daily life usability is one of the main hindrances to increased technology acceptance. Improving usability evaluation practices during the development of WRD could help address these limitations. In this work, we present the design and validation of a no...

Background Multiple sclerosis often leads to proprioceptive impairments of the hand. However, it is challenging to objectively assess such deficits using clinical methods, thereby also impeding accurate tracking of disease progression and hence the application of personalized rehabilitation approaches. Objective We aimed to evaluate test-retest re...

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 thi...

An important tactile function is the active detection of small-scale features, such as edges or asperities, which depends on fine hand motor control. Using a resting-state fMRI paradigm, we sought to identify the functional connectivity of the brain network engaged in mapping tactile inputs to and from regions engaged in motor preparation and plann...

Objective There is a great interest in observing breathing patterns during sleep, as sleep disturbances can be caused by respiratory irregularity and cessations. In this paper, we introduce the first steps to an accelerometer-based screening tool for respiratory rate estimation and a novel approach towards detecting breathing cessations such as apn...

Impaired hand proprioception can lead to difficulties in performing fine motor tasks, thereby affecting activities of daily living. The majority of children with unilateral cerebral palsy (uCP) experience proprioceptive deficits, but accurately quantifying these deficits is challenging due to the lack of sensitive measurement methods. Robot-assiste...

With the increasing range of functionalities of advanced assistive technologies (AAT), reliable control and initiation of the desired actions become increasingly challenging for users. In this work, we present an analysis of current practices, user preferences, and usability of AAT intention detection strategies based on a survey among participants...

Following stroke, a significant portion of individuals suffer from upper limb impairments and struggle with activities of daily living. Dedicated assistive technology (AT), such as robotic hand orthoses (RHO), can help facilitate upper limb usage and allow users to regain independence in their daily lives. Often, users' needs and requirements are n...

Children affected by hand impairment due to cerebral palsy or stroke experience serious difficulties when performing activities of daily life (ADL), which reduces their quality of life and development. Wearable robots such as hand exoskeletons have been proposed to support people with hand impairment in therapy as well as daily tasks. While numerou...

Neurological injuries such as stroke often lead to motor and somatosensory impairments of the hand. Deficits in somatosensation, especially proprioception, result in difficulties performing activities of daily living involving fine motor tasks. However, it is challenging to accurately detect those impairments due to the limitations of clinical asse...

Growing evidence shows that increasing the dose of upper limb therapy after stroke might improve functional outcomes and unsupervised robot-assisted therapy may be a solution to achieve such an increase without adding workload on therapists. However, most of existing robotic devices still need frequent supervision by trained personnel and are curre...

Deep brain stimulation (DBS) electrodes provide an unparalleled window to record and investigate neuronal activity right at the core of pathological brain circuits. In Parkinson's disease (PD), basal ganglia beta-oscillatory activity (13–35 Hz) seems to play an outstanding role. Conventional DBS, which globally suppresses beta-activity, does not me...

Background Upper limb disability in persons with Multiple Sclerosis (pwMS) leads to increased dependence on caregivers. To better understand upper limb disability, observer-based or time-based clinical assessments have been applied. However, these only poorly capture the behavioural aspects underlying goal-directed task performance. Objective We a...

Background: 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, scalable, robotic devices that could be used with minimal to no supervision in the clinic or at home bear the promise of increasing dose wit...

Characterizing post-stroke impairments in the sensorimotor control of arm and hand is essential to better understand altered mechanisms of movement generation. Herein, we used a decomposition algorithm to characterize impairments in end-effector velocity and hand grip force data collected from an instrumented functional task in 83 healthy control a...

Background: Upper limb sensorimotor impairments are common in neurological disorders. In order to personalize and evaluate interventions aiming to improve upper limb function, it is essential to accurately assess the presence and extent of these impairments. Clinical assessments rely on experience-based observations, subjective evaluation, and ordi...

Background Tremor is one of the most common movement disorders but the correct diagnosis of tremor disorders, especially the differentiation between Parkinson’s disease tremor (PT) and essential tremor (ET) remains a challenge for clinicians. Method We examined a novel hand position to distinguish PT from ET. We prospectively collected acceleromet...

Abstract Background Advanced assistive technologies (AAT) aim to exploit the vast potential of technological developments made in the past decades to improve the quality of life of people with disabilities. Combining complex robotic technologies with the unique needs of people with disabilities requires a strong focus on user-centered design to ens...

Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we investigated robot responses to four human intra-hug gestures: holding, rubbing, patting, and squeezing. Thirt...

Significance Functional near-infrared spectroscopy (fNIRS) enables the measurement of brain activity noninvasively. Optical neuroimaging with fNIRS has been shown to be reproducible on the group level and hence is an excellent research tool, but the reproducibility on the single-subject level is still insufficient, challenging the use for clinical...

Objectives: Autosomal recessive spastic ataxia of Charlevoix-Saguenay (ARSACS) is the second most frequent recessive ataxia and commonly features reduced upper limb coordination. Sensitive outcome measures of upper limb coordination are essential to track disease progression and the effect of interventions. However, available clinical assessments...

Wearable robotic upper limb orthoses (ULO) are promising tools to assist or enhance the upper-limb function of their users. While the functionality of these devices has continuously increased, the robust and reliable detection of the user's intention to control the available degrees of freedom remains a major challenge and a barrier for acceptance....

Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we investigated robot responses to four human intra-hug gestures: holding, rubbing, patting, and squeezing. Thirt...

Background Children and adolescents with upper limb impairments can experience limited bimanual performance reducing daily-life independence. We have developed a fully wearable pediatric hand exoskeleton (PEXO) to train or compensate for impaired hand function. In this study, we investigated its appropriateness, practicability, and acceptability....

The complexity and dexterity of the human hand make the development of natural and robust control of hand prostheses challenging. Although a large number of control approaches were developed and investigated in the last decades, limited robustness in real-life conditions often prevented their application in clinical settings and in commercial produ...

Robotic hand orthoses have the potential of supporting grasp function of people with sensorimotor impairments. To achieve lightweight and simple solutions, most devices focus on supporting only a subset of the functional abilities of the hand. This study investigates the effect of such a design trade-off in a wrist-constrained robotic hand orthosis...

Background User-centered design approaches have gained attention over the past decade, aiming to tackle the technology acceptance issues of wearable robotic devices to assist, support or augment human capabilities. While there is a consensus that usability is key to user-centered design, dedicated usability evaluation studies are scarce and clear e...

Predicting upper limb neurorehabilitation outcomes in persons with multiple sclerosis (pwMS) is essential to optimize therapy allocation. Previous research identified population-level predictors through linear models and clinical data. This work explores the feasibility of predicting individual neurorehabilitation outcomes using machine learning, c...

Background: Advanced assistive technologies (AAT) aim to exploit the vast potential of technological developments made in the past decades to improve the quality of life of people with disabilities. Combining complex robotic technologies with the unique needs of people with disabilities requires a strong focus on user-centered design to ensure that...

Autosomal recessive spastic ataxia of Charlevoix-Saguenay (ARSACS) is the second most frequent recessive ataxia and commonly features reduced upper limb coordination. Sensitive outcome measures of upper limb coordination are essential to track disease progression and the effect of interventions. However, available clinical assessments are insuffici...

When performing willed actions, we have the unified and coherent experience of owning and controlling our body. Body ownership is believed to emerge from the integration of coherent multisensory signals, while agency is believed to emerge from the coherence between predicted and perceived outcomes of actions. As a consequence, body ownership and ag...

Objective: This paper tackles the cross-sessions variability of electroencephalography-based brain-computer interfaces (BCIs) in order to avoid the lengthy recalibration step of the decoding method before every use. Methods: We develop a new approach of domain adaptation based on optimal transport to tackle brain signal variability between sessi...

Background : User-centered design approaches have gained attention over the past decade, aiming to tackle the technology acceptance issues of wearable robotic devices to assist, support or augment human capabilities. While there is a consensus that usability is key to user-centered design, dedicated usability evaluation studies are scarce and clear...

Background: Neurological injuries such as stroke often differentially impair hand motor and somatosensory function, as well as the interplay between the two, which leads to limitations in performing activities of daily living. However, it is challenging to identify which specific aspects of sensorimotor function are impaired based on conventional...

Fundamental human feelings such as body ownership (“this” body is “my” body) and vicariousness (first-person-like experience of events occurring to others) are based on multisensory integration. Behavioral links between body ownership and vicariousness have been shown, but the neural underpinnings remain largely unexplored. To fill this gap, we inv...

Minimally invasive surgery, specifically endoscopy, is a vital component in modern surgical healthcare. Due to the challenging nature of operating through a restricted endoscopic camera view, novice surgeons must master navigating surgical volumes effectively and efficiently. One of the specific focus areas for these inexperienced surgeons is maint...

Current neurorehabilitation models primarily rely on extended hospital stays and regular therapy sessions requiring close physical interactions between rehabilitation professionals and patients. The current COVID-19 pandemic has challenged this model, as strict physical distancing rules and a shift in the allocation of hospital resources resulted i...

Background Robot-assisted therapy can increase therapy dose after stroke, which is often considered insufficient in clinical practice and after discharge, especially with respect to hand function. Thus far, there has been a focus on rather complex systems that require therapist supervision. To better exploit the potential of robot-assisted therapy,...

Parkinsonian motor symptoms are linked to pathologically increased beta-oscillations in the basal ganglia. While pharmacological treatment and deep brain stimulation (DBS) reduce these pathological oscillations concomitantly with improving motor performance, we set out to explore neurofeedback as an endogenous modulatory method. We implemented real...

Wearable robots assist individuals with sensorimotor impairment in daily life, or support industrial workers in physically demanding tasks. In such scenarios, low mass and compact design are crucial factors for device acceptance. Remote actuation systems (RAS) have emerged as a popular approach in wearable robots to reduce perceived weight and incr...

Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous research both within and outside of HRI, we propose six tenets ("commandments") of natural and enjoyable robotic hugging: a hugging robot should be soft, be warm, be human...

Background: Robot-assisted therapy can increase therapy dose after stroke, which is often considered insufficient in clinical practice and after discharge, especially with respect to hand function. Thus far, there has been a focus on rather complex systems that require therapist supervision. To better exploit the potential of robot-assisted therapy...

Digital health metrics promise to advance the understanding of impaired body functions, for example in neurological disorders. However, their clinical integration is challenged by an insufficient validation of the many existing and often abstract metrics. Here, we propose a data-driven framework to select and validate a clinically relevant core set...

Background: Neurological injuries such as stroke often differentially impair hand motor and somatosensory function, as well as the interplay between the two, which leads to limitations in performing activities of daily living. However, it is challenging to identify which specific aspects of sensorimotor function are impaired based on conventional c...

Significance: The reliability of functional near-infrared spectroscopy (fNIRS) measurements is reduced by systemic physiology. Short-channel regression algorithms aim at removing systemic "noise" by subtracting the signal measured at a short source-detector separation (mainly scalp hemodynamics) from the one of a long separation (brain and scalp he...

Human-centered design of assistive technology aims to achieve high functional benefits while considering user opinions to increase device usability and promote acceptance. Considering the needs and opinions of all real-world user groups, including not only the target end-users with disabilities but also their caregivers (e.g. family members, friend...

The daily use of advanced wearable robotic devices for the assistance of people with locomotor disabilities is still facing clear limitations in usability and acceptance (e.g. cost, complexity, and inability to maintain balance). In most devices, the correct selection and initiation of pre-defined functions and activities (e.g. walking and stair as...

Restoring hand function in people suffering from neuromotor hand impairment is a crucial step towards regaining independence. Wearable robotic hand orthoses are a promising approach to support that aim by providing grasp assistance in daily life. For successful independent use of such an assistive device, a robust and intuitive method to detect the...

Chronic hand and wrist impairment are frequently present following stroke and severely limit independence in everyday life. The wrist orientates and stabilizes the hand before and during grasping, and is therefore of critical importance in activities of daily living (ADL). To improve rehabilitation outcomes, classical therapy could be supplemented...

Background: Assessing arm and hand sensorimotor impairments that are functionally relevant is essential to optimize the impact of neurorehabilitation interventions. Technology-aided assessments should provide a sensitive and objective characterization of upper limb impairments, but often provide arm weight support and neglect the importance of the...

Background: Hand function is often impaired after stroke, strongly affecting the ability to perform daily activities. Upper limb robotic devices have been developed to complement rehabilitation therapy offered to persons who suffered a stroke, but they rarely focus on the training of hand sensorimotor function. The primary goal of this study was t...

Introduction Thalamic deep brain stimulation (DBS) provides excellent tremor control in most patients with essential tremor (ET). However, not all tremor patients show clinically significant improvement after DBS surgery. Currently, there is no reliable clinical or instrument-based measure to predict how patients respond to DBS. Therefore, we set o...

Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of falling in case of collisions with external objects. Compliant actuation may reduce forces during collisions, th...

Objective Surface electromyography (sEMG) is a potentially useful signal that can provide therapeutic biofeedback. However, sEMG signal processing is difficult because of the low signal-to-noise ratio and non-stationarity of the raw signal. Conventional online filters often suffer from a compromise between smoothness and responsiveness. Here we pro...