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https://www.readbyqxmd.com/read/28814063/icave-an-open-source-tool-for-visualizing-biomolecular-networks-in-3d-stereoscopic-3d-and-immersive-3d
#1
Vaja Liluashvili, Selim Kalayci, Eugene Fluder, Manda Wilson, Aaron Gabow, Zeynep H Gümüs
Visualizations of biomolecular networks assist in systems-level data exploration in many cellular processes. Data generated from high-throughput experiments increasingly inform these networks, yet current tools do not adequately scale with concomitant increase in their size and complexity. We present an open source software platform, interactome-CAVE (iCAVE), for visualizing large and complex biomolecular interaction networks in 3D. Users can explore networks (i) in 3D using a desktop, (ii) in stereoscopic 3D using 3D-vision glasses and a desktop, or (iii) in immersive 3D within a CAVE environment...
August 1, 2017: GigaScience
https://www.readbyqxmd.com/read/28814061/modular-one-to-many-clutchable-actuator-for-a-soft-elbow-exosuit
#2
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/28814060/a-soft-wearable-robot-for-the-shoulder-design-characterization-and-preliminary-testing
#3
Ciaran T O'Neill, Nathan S Phipps, Leonardo Cappello, Sabrina Paganoni, Conor J Walsh
In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder abduction and horizontal flexion/extension. The advantage of a textile-based approach is that the robot can be lightweight, low-profile, comfortable and non-restrictive to the wearer, and easy to don like an item of clothing...
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
#4
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/28814058/towards-an-ankle-neuroprosthesis-for-hybrid-robotics-concepts-and-current-sources-for-functional-electrical-stimulation
#5
S Casco, I Fuster, R Galeano, J C Moreno, J L Pons, F Brunetti
Hybrid rehabilitation robotics combine neuro-prosthetic devices (close-loop functional electrical stimulation systems) and traditional robotic structures and actuators to explore better therapies and promote a more efficient motor function recovery or compensation. Although hybrid robotics and ankle neuroprostheses (NPs) have been widely developed over the last years, there are just few studies on the use of NPs to electrically control both ankle flexion and extension to promote ankle recovery and improved gait patterns in paretic limbs...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814056/design-of-a-lightweight-tethered-torque-controlled-knee-exoskeleton
#6
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/28814054/crux-a-compliant-robotic-upper-extremity-exosuit-for-lightweight-portable-multi-joint-muscular-augmentation
#7
Steven Lessard, Pattawong Pansodtee, Ash Robbins, Leya Breanna Baltaxe-Admony, James M Trombadore, Mircea Teodorescu, Adrian Agogino, Sri Kurniawan
Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the user's movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the underlying complexity of the human body. In this paper, we present a compliant, robotic exosuit for upper extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible multi-joint design for portable augmentation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814052/grasp-specific-and-user-friendly-interface-design-for-myoelectric-hand-prostheses
#8
Alireza Mohammadi, Jim Lavranos, Rob Howe, Peter Choong, Denny Oetomo
This paper presents the design and characterisation of a hand prosthesis and its user interface, focusing on performing the most commonly used grasps in activities of daily living (ADLs). Since the operation of a multi-articulated powered hand prosthesis is difficult to learn and master, there is a significant rate of abandonment by amputees in preference for simpler devices. In choosing so, amputees chose to live with fewer features in their prosthesis that would more reliably perform the basic operations...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814051/design-of-a-wearable-hand-exoskeleton-for-exercising-flexion-extension-of-the-fingers
#9
Inseong Jo, Jeongsoo Lee, Yeongyu Park, Joonbum Bae
In this paper, design of a wearable hand exoskeleton system for exercising flexion/extension of the fingers, is proposed. The exoskeleton was designed with a simple and wearable structure to aid finger motions in 1 degree of freedom (DOF). A hand grasping experiment by fully-abled people was performed to investigate general hand flexion/extension motions and the polynomial curve of general hand motions was obtained. To customize the hand exoskeleton for the user, the polynomial curve was adjusted to the joint range of motion (ROM) of the user and the optimal design of the exoskeleton structure was obtained using the optimization algorithm...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814048/a-mechanism-for-elbow-exoskeleton-for-customised-training
#10
Soumya K Manna, Venketesh N Dubey
It is well proven that repetitive extensive training consisting of active and passive therapy is effective for patients suffering from neuromuscular deficits. The level of difficulty in rehabilitation should be increased with time to improve the neurological muscle functions. A portable elbow exoskeleton has been designed that will meet these requirements and potentially offers superior outcomes than human-assisted training. The proposed exoskeleton can provide both active and passive rehabilitation in a single structure without changing its configuration...
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
#11
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
#12
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/28814038/design-and-preliminary-assessment-of-vanderbilt-hand-exoskeleton
#13
Benjamin W Gasser, Daniel A Bennett, Christina M Durrough, Michael Goldfarb
This paper presents the design of a hand exoskeleton intended to enable or facilitate bimanual activities of daily living (ADLs) for individuals with chronic upper extremity hemiparesis resulting from stroke. The paper describes design of the battery-powered, self-contained exoskeleton and presents the results of initial testing with a single subject with hemiparesis from stroke. Specifically, an experiment was conducted requiring the subject to repeatedly remove the lid from a water bottle both with and without the hand exoskeleton...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814037/design-of-a-power-asymmetric-actuator-for-a-transtibial-prosthesis
#14
Harrison L Bartlett, Brian E Lawson, Michael Goldfarb
This paper presents the design and characterization of a power-asymmetric actuator for a transtibial prosthesis. The device is designed to provide the combination of: 1) joint locking, 2) high power dissipation, and 3) low power generation. This actuator functionality allows for a prosthesis to be designed with minimal mass and power consumption relative to a fully-powered robotic prosthesis while maintaining much of the functionality necessary for activities of daily living. The actuator achieves these design characteristics while maintaining a small form factor by leveraging a combination of electromechanical and hydraulic components...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814036/prosthetic-design-directives-low-cost-hands-within-reach
#15
G K Jones, A Rosendo, R Stopforth
Although three million people around the world suffer from the lack of one or both upper limbs 80% of this number is located within developing countries. While prosthetic prices soar with technology 3D printing and low cost electronics present a sensible solution for those that cannot afford expensive prosthetics. The electronic and control design of a low-cost prosthetic hand, the Touch Hand II, is discussed. This paper shows that sensorless techniques can be used to reduce design complexities, costs, and provide easier access to the electronics...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814027/challenges-in-using-compliant-ligaments-for-position-estimation-within-robotic-joints
#16
Felix Russell, Lei Gao, Peter Ellison, Ravi Vaidyanathan
The mechanical advantages of bio-inspired condylar robotic knee joints for use in prosthetics or rehabilitation has been argued extensively in literature. A common limitation of these designs is the difficulty of estimating joint angle and therefore accurately controlling the joint. Furthermore, the potential role of ligament-like structures in robotic knees is not very well established. In this work, we investigate the role of compliant stretch sensing ligaments and their integration into a condylar robotic knee...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814026/design-and-characterization-of-low-cost-fabric-based-flat-pneumatic-actuators-for-soft-assistive-glove-application
#17
Hong Kai Yap, Frederick Sebastian, Christopher Wiedeman, Chen-Hua Yeow
We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies the manufacturing process and allows the actuators to be more compact. The actuators achieve bi-directional flexion and extension motions...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814023/representing-high-dimensional-data-to-intelligent-prostheses-and-other-wearable-assistive-robots-a-first-comparison-of-tile-coding-and-selective-kanerva-coding
#18
Jaden B Travnik, Patrick M Pilarski
Prosthetic devices have advanced in their capabilities and in the number and type of sensors included in their design. As the space of sensorimotor data available to a conventional or machine learning prosthetic control system increases in dimensionality and complexity, it becomes increasingly important that this data be represented in a useful and computationally efficient way. Well structured sensory data allows prosthetic control systems to make informed, appropriate control decisions. In this study, we explore the impact that increased sensorimotor information has on current machine learning prosthetic control approaches...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814022/estimating-anatomical-wrist-joint-motion-with-a-robotic-exoskeleton
#19
Chad G Rose, Claudia K Kann, Ashish D Deshpande, Marcia K O'Malley
Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814019/stiffness-control-of-a-nylon-twisted-coiled-actuator-for-use-in-mechatronic-rehabilitation-devices
#20
Brandon P R Edmonds, Ana Luisa Trejos
Mechatronic rehabilitation devices, especially wearables, have been researched extensively and proven to be promising additions to physical therapy, but most designs utilize traditional actuators providing unnatural, robot-like movements. Therefore, many researchers have focused on the development of actuators that mimic biological properties to provide patients with improved results, safety, and comfort. Recently, a twisted-coiled actuator (TCA) made from nylon thread has been found to possess many of these important properties when heated, such as variable stiffness, flexibility, and high power density...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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