Supplementary Material

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.C5至C7节段脊髓损伤（spinal cord injury, SCI）患者的手部功能丧失，会严重损害其日常活动独立性。为实现有限抓握或增强对小型物体的握持力，该类患者通常采用代偿策略：通过伸展手腕被动诱发手指屈曲。为辅助该康复功能，学界已开发出基于腕部驱动的被动人体动力装置（passive body-powered device）；与此同时，针对灵巧操作所需的手指关节活动，主动式机器人装置也取得了诸多技术进展。然而，无论是被动还是主动装置，均未实现长期广泛的应用与留存。 本研究提出一种融合被动与主动驱动特性的非传统系统，并证实主动调节腕部被动运动与手指运动间的关联，可对上肢代偿的运动表现与运动学指标产生显著影响。鉴于该群体的解剖结构与代偿反应差异显著，本研究共纳入6例C5至C6节段脊髓损伤患者的独立病例研究。尽管仅有部分患者在该融合系统下的表现优于纯被动操作模式，但所有6名受试者均表示更偏好该融合系统，认为额外加装的驱动系统既带来了可靠的使用信任，也赋予了身体具身感。该研究结果推动了后续相关研究的开展：探索如何通过驱动装置改变人体运动学特征，在不替代人体原生动力的前提下增强其效能。