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https://www.readbyqxmd.com/read/28814061/modular-one-to-many-clutchable-actuator-for-a-soft-elbow-exosuit
#1
M Canesi, M Xiloyannis, A Ajoudani, A Biechi, L Masia
Exoskeletons have been developed for a wide range of applications, from the military to the medical field, with the aim of augmenting human performance or compensating for neuromuscular deficiencies. However, to empower the high number of degrees of freedom of the human body, they often employ a high number of motors, increasing the size, weight and power consumption of the system. We hereby present an actuation strategy to empower our elbow exosuit that adopts a single motor to drive multiple, independently actuated, degrees of freedom...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814059/biomot-exoskeleton-towards-a-smart-wearable-robot-for-symbiotic-human-robot-interaction
#2
Tomislav Bacek, Marta Moltedo, Kevin Langlois, Guillermo Asin Prieto, Maria Carmen Sanchez-Villamanan, Jose Gonzalez-Vargas, Bram Vanderborght, Dirk Lefeber, Juan C Moreno
This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814056/design-of-a-lightweight-tethered-torque-controlled-knee-exoskeleton
#3
Kirby Ann Witte, Andreas M Fatschel, Steven H Collins
Lower-limb exoskeletons show promise for improving gait rehabilitation for those with chronic gait abnormalities due to injury, stroke or other illness. We designed and built a tethered knee exoskeleton with a strong lightweight frame and comfortable, four-point contact with the leg. The device is structurally compliant in select directions, instrumented to measure joint angle and applied torque, and is lightweight (0.76 kg). The exoskeleton is actuated by two off-board motors. Closed loop torque control is achieved using classical proportional feedback control with damping injection in conjunction with iterative learning...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814040/training-wrist-extensor-function-and-detecting-unwanted-movement-strategies-in-an-emg-controlled-visuomotor-task
#4
Mingxing Lyu, Charles Lambelet, Daniel Woolley, Xue Zhang, Weihai Chen, Xilun Ding, Roger Gassert, Nicole Wenderoth
Stroke patients often suffer from severe upper limb paresis. Rehabilitation treatment typically targets motor impairments as early as possible, however, muscular contractions, particularly in the wrist and fingers, are often too weak to produce overt movements, making the initial phase of rehabilitation training difficult. Here we propose a new training tool whereby electromyographic (EMG) activity is measured in the wrist extensors and serves as a proxy of voluntary corticomotor drive. We used the Myo armband to develop a proportional EMG controller which allowed volunteers to perform a simple visuomotor task by modulating wrist extensor activity...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814011/adaptive-control-of-an-exoskeleton-robot-with-uncertainties-on-kinematics-and-dynamics
#5
Brahim Brahmi, Maarouf Saad, Cristobal Ochoa-Luna, Mohammad H Rahman
In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814009/preliminary-results-toward-a-naturally-controlled-multi-synergistic-prosthetic-hand
#6
Matteo Rossi, Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel Catalano, Antonio Biechi
Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813994/two-single-cases-treated-by-a-new-pseudoelastic-upper-limb-orthosis-for-secondary-dystonia-of-the-young
#7
Lorenzo Garavaglia, Emanuela Pagliano, Maria Teresa Arnoldi, Antonella LoMauro, Riccardo Zanin, Giovanni Baranello, Andrea Aliverti, Simone Pittaccio
The study proposes a new treatment for dystonia based on a dynamic wearable orthosis equipped with metallic materials of non-linear mechanical characteristics. Two boys with upper-limb dystonia were enrolled, as well as six healthy children. Fully-customised devices were made for the patients. They used the orthosis for one month and their performances were evaluated before and after the treatment. The assessment was done with clinical scales (Modified Ashworth Score, Melbourne Upper Limb Assessment, PedsQL), interviews and optoelectronic kinematic analysis...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813988/capturing-prosthetic-socket-fitment-preliminary-results-using-an-ultrasound-based-device
#8
Andrew K LaPre, Vinh Q Nguyen, Ulvi Baspinar, Michael White, Frank C Sup
The acceptance of advanced prosthetic systems by users requires overcoming unique challenges of fitting prostheses to unique user anatomies to achieve systematic performance across a user base. Variations among individuals introduce complexities in fitting the sockets. Due to the difficulty of measuring socket interface characteristics, there is a lack of quantifiable diagnostic fitment information available. As a result, the process of fitting sockets is currently a laborintensive, manual approach, and can often result in sockets that are uncomfortable, unstable, or impede full range of motion...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813962/a-fundamental-study-on-how-holding-a-helium-filled-balloon-affects-stability-in-human-standing
#9
Keisuke Shima, Koji Shimatani, Gen Sato, Mami Sakata, Psiche Giannoni, Pietro Morasso
Various studies have been conducted in the field of the development/deterioration of standing and walking ability. In standing and walking control strategy, the relationship linking visual/somatosensory/vestibular-system information and physical movement is important. Researchers have previously sought to evaluate attitude control based on human sensory information. The authors have also reported that the body sway of a walking infant is mitigated when the subject holds a helium-filled balloon, with results suggesting that this approach can be applied to extend walking distance...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813957/an-instrumented-object-for-studying-human-grasping
#10
R A Romeo, F Cordelia, A Davalli, R Sacchetti, E Guglielmelli, L Zollo
This paper proposes the use of an instrumented object for the study of the human grasping strategies. The proposed object is able to measure the grasping forces by means of three Force Sensitive Resistor (FSR) sensors and triaxial acceleration through an accelerometer. The object orientation angles (roll and pitch) can be estimated from the accelerometer output in quasi-static condition, whereas slippage events can be detected through the Power Spectrum Density (PSD) computation of the acceleration on at least one of the three axes...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813949/monitoring-brain-potentials-to-guide-neurorehabilitation-of-tracking-impairments
#11
Boris Yazmir, Miriam Reiner
Motor impairments come in different forms. One class of motor impairments, relates to accuracy of tracking a moving object, as, for instance, when chasing in an attempt to catch it. Here we look at neural signals associated with errors in tracking, and the implications for brain-computer-interfaces that target impairment-tailored rehabilitation. As a starting point, we characterized EEG signals evoked by tracking errors during continuous natural motion, in healthy participants. Participants played a virtual 3D, ecologically valid haptic tennis game, and had to track a moving tennis ball in order to hit and send the ball towards the opponent's court...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813936/using-upper-limb-kinematics-to-assess-cognitive-deficits-in-people-living-with-both-hiv-and-stroke
#12
Kevin D Bui, Roshan Rai, Michelle J Johnson
In this study, we aim to explore ways to objectively assess cognitive deficits in the stroke and HIV/stroke populations, where cognitive and motor impairments can be hard to separate. Using an upper limb rehabilitation robot called the Haptic TheraDrive, we collect performance error scores and motor learning data on the impaired and unimpaired limb during a trajectory tracking task. We compare these data to clinical cognitive scores. The preliminary results suggest a possible relationship between unimpaired upper limb performance error and visuospatial/executive function cognitive domains, but more work needs to be done to further investigate this...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813924/probabilistic-vs-linear-blending-approaches-to-shared-control-for-wheelchair-driving
#13
Chinemelu Ezeh, Pete Trautman, Louise Devigne, Valentin Bureau, Marie Babel, Tom Carlson
Some people with severe mobility impairments are unable to operate powered wheelchairs reliably and effectively, using commercially available interfaces. This has sparked a body of research into "smart wheelchairs", which assist users to drive safely and create opportunities for them to use alternative interfaces. Various "shared control" techniques have been proposed to provide an appropriate level of assistance that is satisfactory and acceptable to the user. Most shared control techniques employ a traditional strategy called linear blending (LB), where the user's commands and wheelchair's autonomous commands are combined in some proportion...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813914/data-sample-size-needed-for-analysis-of-kinematic-and-muscle-synergies-in-healthy-and-stroke-populations
#14
Navid Lambert-Shirzad, H F Machiel Van der Loos
Multiple studies have suggested the central nervous system (CNS) generates motions by using modular control of muscles and joints (synergies). However, the synergies reported by these studies are task dependent and might not reflect the true control strategies adopted by the CNS. Studying exploratory motions (EMs) can reveal biomechanical constraints and motor control strategies in healthy and clinical populations. The first logical step to consider EMs in study of motor synergies is to determine how much data is required to reliably and fully profile the motion patterns of an individual...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813913/emu-a-transparent-3d-robotic-manipulandum-for-upper-limb-rehabilitation
#15
Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels
This paper introduces the EMU, a three-dimensional robotic manipulandum for rehabilitation of the upper extremity for patients with neurological injury. The device has been designed to be highly transparent, have a large workspace, and allow the use of the hand for interaction with real-world objects to provide additional contextual cues during exercises. The transparency is achieved through the use of a capstan transmission for the drive joints; a hybrid serial parallel kinematics minimising moving inertia; and lightweight materials...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813907/position-and-stiffness-modulation-of-a-wrist-haptic-device-using-myoelectric-interface
#16
Chris Wilson Antuvan, Lorenzo Masia
Modulation of stiffness provides a great deal of advantage in the way humans interact with the environment, and is very important in successfully performing activities of daily living. In the context of human-machine interactions, stiffness control could provide a safer interaction, especially when dealing with unpredictable environment. In this paper we propose a user-modulated stiffness and position control for the wrist flexion/extension degree of freedom while physically coupled to a haptic device. A virtual position tracking experiment in a varying external force field is designed in order to test the performance of the control strategy with and without co-contraction techniques...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813906/the-ewrist-a-wearable-wrist-exoskeleton-with-semg-based-force-control-for-stroke-rehabilitation
#17
Charles Lambelet, Mingxing Lyu, Daniel Woolley, Roger Gassert, Nicole Wenderoth
Chronic wrist impairment is frequent following stroke and negatively impacts everyday life. Rehabilitation of the dysfunctional limb is possible but requires extensive training and motivation. Wearable training devices might offer new opportunities for rehabilitation. However, few devices are available to train wrist extension even though this movement is highly relevant for many upper limb activities of daily living. As a proof of concept, we developed the eWrist, a wearable one degree-of-freedom powered exoskeleton which supports wrist extension training...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813901/adaptive-control-based-on-an-on-line-parameter-estimation-of-an-upper-limb-exoskeleton
#18
Akram Riani, Tarek Madani, Abdelhafid El Hadri, Abdelaziz Benallegue
This paper presents an adaptive control strategy for an upper-limb exoskeleton based on an on-line dynamic parameter estimator. The objective is to improve the control performance of this system that plays a critical role in assisting patients for shoulder, elbow and wrist joint movements. In general, the dynamic parameters of the human limb are unknown and differ from a person to another, which degrade the performances of the exoskeleton-human control system. For this reason, the proposed control scheme contains a supplementary loop based on a new efficient on-line estimator of the dynamic parameters...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813897/design-and-testing-of-an-under-actuated-surface-emg-driven-hand-exoskeleton
#19
A Lince, N Celadon, A Battezzato, A Favetto, S Appendino, P Ariano, M Paleari
Stroke and other neurological pathologies are an increasing cause of hand impairment, involving expensive rehabilitative therapies. In this scenario, robotics applied to hand rehabilitation and assistance appears particularly promising in order to lower therapy costs and boost its efficacy. This work shows a recently conceived hand exoskeleton, from the design and realization to its preliminary evaluation. A control strategy based on surface electromyography (sEMG) signals is integrated: preliminary tests performed on healthy subjects show the validity of this choice...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813892/comparison-of-two-difficulty-adaptation-strategies-for-competitive-arm-rehabilitation-exercises
#20
Maja Gorsic, Ali Darzi, Domen Novak
This paper presents two different strategies for difficulty adaptation in a competitive arm rehabilitation game: a manual adaptation strategy and an automatic performance-based adaptation strategy. The two strategies were implemented in a competitive game controlled with an inertial-sensor-based home rehabilitation device. They were first evaluated with 32 pairs of unimpaired participants, who played the game with manual adaptation, automated adaptation, or no adaptation. Each variant was played for 9 minutes...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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