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https://www.readbyqxmd.com/read/28814055/twiice-a-lightweight-lower-limb-exoskeleton-for-complete-paraplegics
#1
Tristan Vouga, Romain Baud, Jemina Fasola, Mohamed Bouri, Hannes Bleuler
This paper introduces TWIICE, a lower-limb exoskeleton that enables people suffering from complete paraplegia to stand up and walk again. TWIICE provides complete mobilization of the lower-limbs, which is a first step toward enabling the user to regain independence in activities of the daily living. The tasks it can perform include level and inclined walking (up to 20° slope), stairs ascent and descent, sitting on a seat, and standing up. Participation in the world's first Cybathlon (Zurich, 2016) demonstrated good performance at these demanding tasks...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814044/a-survey-of-stakeholder-perspectives-on-a-proposed-combined-exoskeleton-wheelchair-technology
#2
Tim Bhatnagar, W Ben Mortensen, Johanne Mattie, Jamie Wolff, Claire Parker, Jaimie Borisoff
BACKGROUND: Exoskeleton technology has potential benefits for wheelchair users' health and mobility. However, there are practical barriers to their everyday use as a mobility device. In particular, challenges related to travelling longer distances and transitioning between using a wheelchair and exoskeleton walking may present significant deterrents to regular exoskeleton use. In an effort to remove these barriers, a combined exoskeleton-wheelchair concept ('COMBO') has been proposed, which aims to achieve the benefits of both these mobility technologies...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814043/design-of-a-wearable-interface-for-lightweight-robotic-arm-for-people-with-mobility-impairments
#3
Tommaso Lisini Baldi, Giovanni Spagnoletti, Mihai Dragusanu, Domenico Prattichizzo
Many common activities of daily living like open a door or fill a glass of water, which most of us take for granted, could be an insuperable problem for people who have limited mobility or impairments. For years the unique alternative to overcame this limitation was asking for human help. Nowadays thanks to recent studies and technology developments, having an assistive devices to compensate the loss of mobility is becoming a real opportunity. Off-the-shelf assistive robotic manipulators have the capability to improve the life of people with motor impairments...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814042/portable-haptic-device-for-lower-limb-amputee-gait-feedback-assessing-static-and-dynamic-perceptibility
#4
M A B Husman, H F Maqbool, M I Awad, A A Dehghani-Sanij
Loss of joints and severed sensory pathway cause reduced mobility capabilities in lower limb amputees. Although prosthetic devices attempt to restore normal mobility functions, lack of awareness and control of limb placement increase the risk of falling and causing amputee to have high level of visual dependency. Haptic feedback can serve as a cue for gait events during ambulation thus providing sense of awareness of the limb position. This paper presents a wireless wearable skin stretch haptic device to be fitted around the thigh region...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814039/evaluating-wearable-multimodal-sensor-insoles-for-motion-pattern-measurements-in-stroke-rehabilitation-a-pilot-study
#5
V David, M Forjan, J Martinek, S Kotzian, H Jagos, D Rafolt
The majority of stroke patients experience deficits in motoric functions, especially in gait and mobility. They need rehabilitation to regain walking independence, which is a major goal of rehabilitation after stroke. To document and assess the rehabilitation progress, instrumented motion analysis and clinical assessments are commonly used. In a clinical pilot study the applicability of an instrumented insole system in stroke rehabilitation is evaluated. Motion parameter of 35 stroke patients were gathered with the system while completing 90 s level walking and Timed Up & Go test at the beginning and end of four weeks inpatient rehabilitation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814008/self-aligning-exoskeleton-hip-joint-kinematic-design-with-five-revolute-three-prismatic-and-one-ball-joint
#6
Jonas Beil, Charlotte Marquardt, Tamim Asfour
Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable and even dangerous for the human. In this paper we present a kinematically compatible design of an exoskeleton hip to reduce kinematic incompatibilities, so called macro- and micro-misalignments, between the human's and exoskeleton's joint axes, which are caused by inter-subject variability and articulation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813996/analyzing-at-home-prosthesis-use-in-unilateral-upper-limb-amputees-to-inform-treatment-device-design
#7
Adam J Spiers, Linda Resnik, Aaron M Dollar
New upper limb prosthetic devices are continuously being developed by a variety of industrial, academic, and hobbyist groups. Yet, little research has evaluated the long term use of currently available prostheses in daily life activities, beyond laboratory or survey studies. We seek to objectively measure how experienced unilateral upper limb prosthesis-users employ their prosthetic devices and unaffected limb for manipulation during everyday activities. In particular, our goal is to create a method for evaluating all types of amputee manipulation, including non-prehensile actions beyond conventional grasp functions, as well as to examine the relative use of both limbs in unilateral and bilateral cases...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813992/review-of-the-actuators-of-active-knee-prostheses-and-their-target-design-outputs-for-activities-of-daily-living
#8
Dominik Simon Pieringer, Martin Grimmer, Michael Friedrich Russold, Robert Riener
Active prosthetic knees have the capability to provide net positive work, which is required in daily activities like stair and ramp negotiation or sit-to-stand transfers. Adding this capability might help to increase user mobility, safety, and independence. This article summarizes the biomechanical knee requirements for different activities of daily living and critically compares them with the actuator characteristics of state-of-the-art active prosthetic knee joints. As a result of a systematic literature research 22 active prosthetic knee joints were identified...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813991/voluntary-phantom-hand-and-finger-movements-in-transhumerai-amputees-could-be-used-to-naturally-control-polydigital-prostheses
#9
Nathanael Jarrasse, Caroline Nicol, Florian Richer, Amelie Touillet, Noel Martinet, Jean Paysant, Jozina B De Graaf
An arm amputation is extremely invalidating since many of our daily tasks require bi-manual and precise control of hand movements. Perfect hand prostheses should therefore offer a natural, intuitive and cognitively simple control over their numerous biomimetic active degrees of freedom. While efficient polydigital prostheses are commercially available, their control remains complex to master and offers limited possibilities, especially for high amputation levels. In this pilot study, we demonstrate the possibility for upper-arm amputees to intuitively control a polydigital hand prosthesis by using surface myoelectric activities of residual limb muscles (sEMG) associated with phantom limb movements, even if these residual arm muscles on which the phantom activity is measured were not naturally associated with hand movements before amputation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813987/personalized-design-of-a-hand-prosthesis-considering-anthropometry-of-a-real-hand-extracted-from-radiography
#10
E Castillo-Castaneda, A Bemardo-Vasquez
Commercially available prostheses do not meet patients' expectations regarding dimensions, shape and aesthetic reasons. This paper presents the design of an anthropomorphic and anthropometric prosthesis based on dimensions and shape extracted from a digitized radiograph of the healthy hand of the patient. The mobility of the hand is guaranteed by making a design of phalanges, joints, ligaments and tendons, as closest as possible to a real hand. The kinematic model is presented and validated. A proposal of the actuation system is also described...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813968/changes-in-neuromuscular-activity-during-motor-training-with-a-body-machine-interface-after-spinal-cord-injury
#11
C Pierella, A De Luca, E Tasso, F Cervetto, S Gamba, L Losio, E Quinland, A Venegoni, S Mandraccia, I Muller, A Massone, F A Mussa-Ivaldi, M Casadio
Body machine interfaces (BMIs) are used by people with severe motor disabilities to control external devices, but they also offer the opportunity to focus on rehabilitative goals. In this study we introduced in a clinical setting a BMI that was integrated by the therapists in the rehabilitative treatments of 2 spinal cord injured (SCI) subjects for 5 weeks. The BMI mapped the user's residual upper body mobility onto the two coordinates of a cursor on a screen. By controlling the cursor, the user engaged in playing computer games...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813965/cheap-or-robust-the-practical-realization-of-self-driving-wheelchair-technology
#12
Maya Burhanpurkar, Mathieu Labbe, Charlie Guan, Francois Michaud, Jonathan Kelly
To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to achieve inexpensive and robust autonomous and semi-autonomous assistive navigation for existing fielded wheelchairs, of which there are approximately 5 million units in Canada and United States alone. Our prototype wheelchair platform is capable of localization and mapping, as well as robust obstacle avoidance, using only a commodity RGB-D sensor and wheel odometry...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813956/semi-autonomous-mobility-assistance-for-power-wheelchair-users-navigating-crowded-environments
#13
Daniel Ashley, Kyle Ashley, Redwan Alqasemi, Rajiv Dubey
Power wheelchair users suffering from cognitive or physical impairment often face difficulties in maneuvering their wheelchairs through crowded environments. Currently, users need to be continuously aware of all traffic around them to actively avoid all collisions. This is an especially difficult task since many wheelchair users are unable to accurately view or perceive their surroundings. Additionally, imprecise joystick control, slowed reaction time, or imperfect interpretation of the environment can lead to unintended collisions with objects in the environment...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813953/bridge-behavioural-reaching-interfaces-during-daily-antigravity-activities-through-upper-limb-exoskeleton-preliminary-results
#14
Marta Gandolla, Andrea Costa, Lorenzo Aquilante, Margit Gfoehler, Markus Puchinger, Francesco Braghin, Alessandra Pedrocchi
People with neuromuscular diseases such as muscular dystrophy experience a distributed and evolutive weakness in the whole body. Recent technological developments have changed the daily life of disabled people strongly improving the perceived quality of life, mostly concentrating on powered wheelchairs, so to assure autonomous mobility and respiratory assistance, essential for survival. The key concept of the BRIDGE project is to contrast the everyday experience of losing functions by providing them of a system able to exploit the best their own residual capabilities in arm movements so to keep them functional and autonomous as much as possible...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813952/comparative-performance-analysis-of-m-imu-emg-and-voice-user-interfaces-for-assistive-robots
#15
Clemente Laureiti, Francesca Cordella, Francesco Scotto di Luzio, Stefano Saccucci, Angelo Davalli, Rinaldo Sacchetti, Loredana Zollo
People with a high level of disability experience great difficulties to perform activities of daily living and resort to their residual motor functions in order to operate assistive devices. The commercially available interfaces used to control assistive manipulators are typically based on joysticks and can be used only by subjects with upper-limb residual mobilities. Many other solutions can be found in the literature, based on the use of multiple sensory systems for detecting the human motion intention and state...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813951/design-of-an-immersive-simulator-for-assisted-power-wheelchair-driving
#16
Louise Devigne, Marie Babel, Florian Nouviale, Vishnu K Narayanan, Francois Pasteau, Philippe Gallien
Driving a power wheelchair is a difficult and complex visual-cognitive task. As a result, some people with visual and/or cognitive disabilities cannot access the benefits of a power wheelchair because their impairments prevent them from driving safely. In order to improve their access to mobility, we have previously designed a semi-autonomous assistive wheelchair system which progressively corrects the trajectory as the user manually drives the wheelchair and smoothly avoids obstacles. Developing and testing such systems for wheelchair driving assistance requires a significant amount of material resources and clinician time...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813948/robotic-assistance-for-performing-vocational-rehabilitation-activities-using-baxbot
#17
Kyle Ashley, Redwan Alqasemi, Rajiv Dubey
Activities of Daily Living (ADL's) refer to tasks that people do on a daily basis, such as self-feeding, cleaning the house, or bathing. These activities often require a degree of functional mobility that may be outside the ability of a person suffering from cognitive or physical impairment. This work describes methods of performing ADL's with a mobile robotic system. We examined the needs of potential users and caregivers through surveys to determine the most needed applications for robotic assistance. Using this information, we extended the functionality of our BaxBot mobile robotic system to provide meaningful, autonomous assistance in performing three specific ADL's with minimal user interaction...
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
#18
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/28813919/adding-navigation-artificial-audition-and-vital-sign-monitoring-capabilities-to-a-telepresence-mobile-robot-for-remote-home-care-applications
#19
Sebastien Laniel, Dominic Letourneau, Mathieu Labbe, Francois Grondin, Janice Polgar, Francois Michaud
A telepresence mobile robot is a remote-controlled, wheeled device with wireless internet connectivity for bidirectional audio, video and data transmission. In health care, a telepresence robot could be used to have a clinician or a caregiver assist seniors in their homes without having to travel to these locations. Many mobile telepresence robotic platforms have recently been introduced on the market, bringing mobility to telecommunication and vital sign monitoring at reasonable costs. What is missing for making them effective remote telepresence systems for home care assistance are capabilities specifically needed to assist the remote operator in controlling the robot and perceiving the environment through the robot's sensors or, in other words, minimizing cognitive load and maximizing situation awareness...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813883/development-of-a-series-wrapping-cam-mechanism-for-energy-transfer-in-wearable-arm-support-applications
#20
Jeremiah S Schroeder, Joel C Perry
An estimated 17 million individuals suffer a stroke each year with over 5 million resulting in permanent disability. For many of these, the provision of gravity support to the impaired upper limb can provide significant and immediate improvement in arm mobility. This added mobility has the potential to improve arm function and user independence overall, but, so far, wearable arm supports have found only limited uptake by end-users. The reasons are unclear, but it is hypothesized that device uptake is strongly affected by aspects of arm support implementation such as added weight and volume and the effectiveness of the support provided...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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