Read by QxMD icon Read

IEEE ... International Conference on Rehabilitation Robotics: [proceedings]

David Quintero, Anne E Martin, Robert D Gregg
This paper presents a novel control strategy for an above-knee powered prosthetic leg that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned by clinicians. Having a single controller could reduce the number of control parameters to be tuned for each patient, thereby reducing the clinical time and effort involved in fitting a powered prosthesis for a lower-limb amputee...
August 2015: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Siddarth Jain, Ali Farshchiansadegh, Alexander Broad, Farnaz Abdollahi, Ferdinando Mussa-Ivaldi, Brenna Argall
Assistive robotic manipulators have the potential to improve the lives of people with motor impairments. They can enable individuals to perform activities such as pick-and-place tasks, opening doors, pushing buttons, and can even provide assistance in personal hygiene and feeding. However, robotic arms often have more degrees of freedom (DoF) than the dimensionality of their control interface, making them challenging to use-especially for those with impaired motor abilities. Our research focuses on enabling the control of high-DoF manipulators to motor-impaired individuals for performing daily tasks...
August 2015: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
A De Luca, C Lentino, H Vernetti, G A Checchia, P Giannoni, P Morasso, M Casadio
Gait re-education is a primary rehabilitation goal after stroke. In this study, we used instrumented gait analysis for evaluating the outcomes of gait training assisted by an endpoint robot in a population of six chronic stroke survivors. The preliminary results, based on spatial-temporal and kinematic analysis, suggest that (a) self-placed walking speed increases, with an improvement of both length and duration of the stride, (b) balance increases during standing and walking, (c) the non-affected side becomes less involved in attempting to correct for the deficiencies of the affected side, thus reducing the importance of compensatory strategies...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
H Vallery, P Lutz, J von Zitzewitz, G Rauter, M Fritschi, C Everarts, R Ronsse, A Curt, M Bolliger
Gait and balance training is an essential ingredient for locomotor rehabilitation of patients with neurological impairments. Robotic overhead support systems may help these patients train, for example by relieving them of part of their body weight. However, there are only very few systems that provide support during overground gait, and these suffer from limited degrees of freedom and/or undesired interaction forces due to uncompensated robot dynamics, namely inertia. Here, we suggest a novel mechanical concept that is based on cable robot technology and that allows three-dimensional gait training while reducing apparent robot dynamics to a minimum...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Lorenzo Masia, Leonardo Cappello, Pietro Morasso, Xavier Lachenal, Alberto Pirrera, Paul Weaver, Filippo Mattioni
A novel actuator is introduced that combines an elastically compliant composite structure with conventional electromechanical elements. The proposed design is analogous to that used in Series Elastic Actuators, its distinctive feature being that the compliant composite part offers different stable configurations. In other words, its elastic potential presents points of local minima that correspond to robust stable positions (multistability). This potential is known a priori as a function of the structural geometry, thus providing tremendous benefits in terms of control implementation...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Gerald O'Neill, Harshil Patel, Panagiotis Artemiadis
Robots are increasingly used in tasks that include physical interaction with humans. Examples can be found in the area of rehabilitation robotics, power augmentation robots, as well as assistive and orthotic devices. However, current methods of physically coupling humans with robots fail to provide intrinsic safety, adaptation and efficiency, which limit the application of wearable robotics only to laboratory and controlled environments. In this paper we present the design and verification of a novel mechanism for physically coupling humans and robots...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Ismet Handzić, Kyle B Reed
This research compares walking over ground, on a split-belt treadmill, on a tied-belt treadmill, and on the Gait Enhancing Mobile Shoe (GEMS) in both humans and simulated on a passive dynamic model. Passive Dynamic Walkers (PDW) have been researched for decades, yet only recently has the model been used significantly in gait rehabilitation. We aim to identify how well the two-dimensional PDW can be used as a kinematic approximation tool for gait analysis. In this work, the PDW was scaled according to an anthropomorphic human model...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Ismael Seáñez, Ferdinando A Mussa-Ivaldi
This paper develops a body-machine interface for the control of a powered wheelchair using upper-body motion. Our goal was to infer a cursor's kinematics from the signals recorded from 4 Inertial Measurement Units placed on a subject's shoulders. We specified a Kalman filter measurement model that assumes the Euler angles, angular velocities, and linear accelerations of the shoulders are a stochastic linear function of the position, velocity, and acceleration of the virtual cursor. This model learned a system that encodes cursor movement along with training data...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Domen Novak, Robert Riener
Several design strategies for rehabilitation robotics have aimed to improve patients' experiences using motivating and engaging virtual environments. This paper presents a new design strategy: enhancing patient freedom with a complex virtual environment that intelligently detects patients' intentions and supports the intended actions. A 'virtual kitchen' scenario has been developed in which many possible actions can be performed at any time, allowing patients to experiment and giving them more freedom. Remote eye tracking is used to detect the intended action and trigger appropriate support by a rehabilitation robot...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Matt Simkins, Hyuchul Kim, Gary Abrams, Nancy Byl, Jacob Rosen
Stroke is the leading cause of long-term neurological disability and the principle reason for seeking rehabilitative services in the US. Learning based rehabilitation training enables independent mobility in the majority of patients post stroke, however, restoration of fine manipulation, motor function and task specific functions of the hemiplegic arm and hand is noted in fewer than 15% of the stroke patients. Brain plasticity is the innate mechanism enabling the recovery of motor skills through neurological reorganization of the brain as a response to limbs' manipulation...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Patrick Weiss, Lars Heyer, Thomas F Munte, Marcus Heldmann, Achim Schweikard, Erik Maehle
This paper describes the mechanical design, actuation and sensing of an exoskeleton for hand function training after stroke. The frame is 3D-printed in one piece including the joints. Apart from saving assembly time, this enables parametrization of the link sizes in order to adapt it to the patient's hand and reduce joint misalignment. The joint angles are determined using Hall effect sensors. They measure the change of the magnetic field of in the joints integrated magnets achieving an average accuracy of 1...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Dalia De Santis, Lorenzo Masia, Pietro Morasso, Valentina Squeri, Jacopo Zenzeri, Maura Casadio, Assunta Riva
In this preliminary study we compare continuous with pulsed robot assistance in five chronic stroke survivors with a mild degree of spasticity, with the aim of promoting volitional effort and reducing assistance during a reaching task. The protocol consists of one familiarization session and a single training session during which a manipulandum provides subjects with pulsed or continuous assistance in random order. The basic level of assistive force is calibrated for each subject and is the same for both modalities; however, the average force during continuous assistance is about twice the average force in pulsed assistance...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Stefano Mazzoleni, Maria Chiara Carrozza, Patrizio Sale, Marco Franceschini, Federico Posteraro, Micol Tiboni
The goal of this study is to evaluate the effects of upper limb robot-assisted treatment in a group of 25 subacute post-stroke patients using clinical outcome measures and kinematic parameters. Fugl-Meyer (FM) Assessment scale and Motricity Index (MI) were used for clinical assessment, and a set of kinematic parameters was computed. A significant decrease in motor impairment after the robot-assisted treatment (FM p<0.05 and MI p<0.05) was found. Significant improvements of upper limb motor performance was found after 2 weeks (p<0...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Daniel Galinski, Julien Sapin, Bruno Dehez
This paper presents the optimal design of an alignment-free exoskeleton for the rehabilitation of the shoulder complex. This robot structure is constituted of two actuated joints and is linked to the arm through passive degrees of freedom (DOFs) to drive the flexion-extension and abduction-adduction movements of the upper arm. The optimal design of this structure is performed through two steps. The first step is a multi-objective optimization process aiming to find the best parameters characterizing the robot and its position relative to the patient...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Won-Kyung Song, Won-Jin Song, Yale Kim, Jongbae Kim
Various assistive robots for supporting the activities of daily living have been developed. However, not many of these have been introduced into the market because they were found to be impractical in actual scenarios. In this paper, we report on the usability test results of an assistive robot designed for self-feeding for people having disabilities, which includes those having spinal cord injury, cerebral palsy, and traumatic brain injury. First, we present three versions of a novel self-feeding robot (KNRC self-feeding robot), which is suitable for use with Korean food, including sticky rice...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Patrick M Aubin, Hani Sallum, Conor Walsh, Leia Stirling, Annette Correia
In this paper, we present the design of a thumb exoskeleton for pediatric at-home rehabilitation. Pediatric disorders, such as cerebral palsy (CP) and stroke, can result in thumb in palm deformity greatly limiting hand function. This not only limits children's ability to perform activities of daily living but also limits important motor skill development. Specifically, the device, dubbed IOTA (Isolated Orthosis for Thumb Actuation) is a 2-DOF thumb exoskeleton that can actuate the carpometacarpal (CMC) and metacarpalphalangeal (MCP) joints through ranges of motion required for activities of daily living...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
D C Tkach, R D Lipschutz, S B Finucane, L J Hargrove
Technological advances have enabled clinical use of powered foot-ankle prostheses. Although the fundamental purposes of such devices are to restore natural gait and reduce energy expenditure by amputees during walking, these powered prostheses enable further restoration of ankle function through possible voluntary control of the powered joints. Such control would greatly assist amputees in daily tasks such as reaching, dressing, or simple limb repositioning for comfort. A myoelectric interface between an amputee and the powered foot-ankle prostheses may provide the required control signals for accurate control of multiple degrees of freedom of the ankle joint...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Sung Yul Shin, Jung Yoon Kim, Sanghyeop Lee, Junwon Lee, Seung-Jong Kim, ChangHwan Kim
The purpose of this paper is to propose a new assessment method for evaluating motor function of the patients who are suffering from physical weakness after stroke, incomplete spinal cord injury (iSCI) or other diseases. In this work, we use a robotic device to obtain the information of interaction occur between patient and robot, and use it as a measure for assessing the patients. The Intentional Movement Performance Ability (IMPA) is defined by the root mean square of the interactive torque, while the subject performs given periodic movement with the robot...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Mehdi M Mirbagheri, Matthew Kindig, Xun Niu, Deborah Varoqui, Petra Conaway
In this study, the effect of the LOKOMAT, a robotic-assisted locomotor training system, on the reduction of neuromuscular abnormalities associated with spasticity was examined, for the first time in the spinal cord injury (SCI) population. Twenty-three individuals with chronic incomplete SCI received 1-hour training sessions in the LOKOMAT three times per week, with up to 45 minutes of training per session; matched control group received no intervention. The neuromuscular properties of the spastic ankle were then evaluated prior to training and after 1, 2, and 4 weeks of training...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Stephanie Cockrell, Gregory Lee, Wyatt Newman
This paper presents an algorithm to identify features of the navigation surface in front of a wheeled robot. Recent advances in mobile robotics have brought about the development of smart wheelchairs to assist disabled people, allowing them to be more independent. These robots have a human occupant and operate in real environments where they must be able to detect hazards like holes, stairs, or obstacles. Furthermore, to ensure safe navigation, wheelchairs often need to locate and navigate on ramps. The algorithm is implemented on data from a Kinect and can effectively identify these features, increasing occupant safety and allowing for a smoother ride...
June 2013: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
Fetch more papers »
Fetching more papers... Fetching...
Read by QxMD. Sign in or create an account to discover new knowledge that matter to you.
Remove bar
Read by QxMD icon Read

Search Tips

Use Boolean operators: AND/OR

diabetic AND foot
diabetes OR diabetic

Exclude a word using the 'minus' sign

Virchow -triad

Use Parentheses

water AND (cup OR glass)

Add an asterisk (*) at end of a word to include word stems

Neuro* will search for Neurology, Neuroscientist, Neurological, and so on

Use quotes to search for an exact phrase

"primary prevention of cancer"
(heart or cardiac or cardio*) AND arrest -"American Heart Association"