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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/28814054/crux-a-compliant-robotic-upper-extremity-exosuit-for-lightweight-portable-multi-joint-muscular-augmentation
#2
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/28814051/design-of-a-wearable-hand-exoskeleton-for-exercising-flexion-extension-of-the-fingers
#3
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/28814025/learning-from-demonstration-teaching-a-myoelectric-prosthesis-with-an-intact-limb-via-reinforcement-learning
#4
Gautham Vasan, Patrick M Pilarski
Prosthetic arms should restore and extend the capabilities of someone with an amputation. They should move naturally and be able to perform elegant, coordinated movements that approximate those of a biological arm. Despite these objectives, the control of modern-day prostheses is often nonintuitive and taxing. Existing devices and control approaches do not yet give users the ability to effect highly synergistic movements during their daily-life control of a prosthetic device. As a step towards improving the control of prosthetic arms and hands, we introduce an intuitive approach to training a prosthetic control system that helps a user achieve hard-to-engineer control behaviours...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814020/piecewise-and-unified-phase-variables-in-the-control-of-a-powered-prosthetic-leg
#5
Dario J Villarreal, David Quintero, Robert D Gregg
Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the unified approach does not provide voluntary control over non-rhythmic motions like stepping forward and back. In this paper we present a phasing algorithm that uses the amputee's hip angle to control both rhythmic and non-rhythmic motion through two modes: 1) a piecewise (PW) function that provides users voluntary control over stance and swing in a piecewise manner, and 2) a unified function that continuously synchronizes the motion of the prosthetic leg with the amputee user at different walking speeds...
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/28814006/development-and-evaluation-of-a-method-to-measure-wrist-range-of-motion-on-paretic-hand-rehabilitation-device
#7
Jung-Yeon Kim, Hyun-Seok Sung, Youn-Kyung Kang, Igor Gaponov, Bong-Keun Jung
This paper presents the development of wrist ROM measurement system that was implemented on a rehabilitation glove for paretic hand, Easy-Flex, using a rotary potentiometer. This approach enables the device to measure the angles of up to 80° with the approximate resolution of 0.1°. The method along with a universal goniometer and a smartphone clinometer application were tested on 17 healthy participants in terms of reliability. The three instruments were able to accurately measure three different angles (flexion: -10°, neutral: 0°, and extension: 20°) with measurement errors less than 2(°)...
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
#8
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
#9
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/28813979/towards-low-back-support-with-a-passive-biomimetic-exo-spine
#10
Matthias B Naf, Laura De Rijcke, Carlos Rodriguez Guerrero, Matthew Millard, Bram Vanderborght, Dirk Lefeber
Low-Back Pain (LBP) affects a large portion of the working population. Preventive exoskeletons have been proposed to reduce the moments on the lower back, specifically around the lumbosacral (L5/S1) joint. High correlation has been shown, between reducing the moments around the L5/S1 joint and intervertebral compression forces, which in turn have been identified as a risk factor for developing LBP. However, most passive back support exoskeletons use rigid plates or stiff beams to support the spine that limit the range of motion of the wearer...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813972/novel-ankle-orthosis-with-elastomer-embedded-flexible-joint
#11
Takehito Kikuchi, Kohei Ishiya, Isao Abe, Sosuke Tanida, Takashi Yasuda
In this study, we propose a new ankle orthosis with elastomer-embedded flexible joints (EEFJ), composed of C-shaped springs and 3D-printed circular elastomer. This orthosis was designed to reduce burden on the tibialis anterior muscle (TA) and to achieve clearance between the tip of the toe and the ground. Fabrication method, strength testing, and gait analysis were conducted. According to the results of strength testing, the combination of the C-spring with 0.3 mm and 0.5 mm thickness and the elastomer with 30% and 60% filling density performs a supporting torque of 0...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813971/feasibility-study-of-transtibial-amputee-walking-using-a-powered-prosthetic-foot
#12
Martin Grimmer, Matthew Holgate, Jeffrey Ward, Alexander Boehler, Andre Seyfarth
Passive prosthetic feet are not able to provide non-amputee kinematics and kinetics for the ankle joint. Persons with amputations show reduced interlimb symmetry, slower walking speeds, and increased walking effort. To improve ankle range of motion and push off, various powered prosthetic feet were introduced. This feasibility study analyzed if predefined motor reference trajectories can be used to achieve non-amputee ankle biomechanics during walking with the powered prosthetic foot, Walk-Run Ankle. Trajectories were calculated using the desired ankle angle and ankle moment based spring deflection at a given spring stiffness...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813910/reference-path-generation-for-upper-arm-exoskeletons-considering-scapulohumeral-rhythms
#13
Rana Soltani-Zarrin, Amin Zeiaee, Reza Langari, Nina Robson
This paper proposes a reference path generation method for upper-limb rehabilitation exoskeletons considering the scapulohumeral rhythms of the shoulder. The developed method is based on Central Nervous System's (CNS) governing rules for coordination of arm motions, and to the best of our knowledge is the first computational model to consider the motion of the inner shoulder in path generation. Existing reference generation methods which utilize computational models such as minimum jerk, minimum torque, etc, are based on the assumption that the shoulder joint does not move, and the origin of the reference frame is defined at the center of the glenohumeral (GH) joint...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813905/design-and-characterization-of-the-openwrist-a-robotic-wrist-exoskeleton-for-coordinated-hand-wrist-rehabilitation
#14
Evan Pezent, Chad G Rose, Ashish D Deshpande, Marcia K O'Malley
Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813900/mechanical-design-of-efw-exo-ii-a-hybrid-exoskeleton-for-elbow-forearm-wrist-rehabilitation
#15
Hui Bian, Ziye Chen, Hao Wang, Tieshi Zhao
The use of rehabilitation exoskeleton has become an important means for the treatment of stroke patients. A hybrid exoskeleton named EFW Exo II is developed for the motor function rehabilitation of elbow, forearm and wrist. The EFW Exo II is based on a parallel 2-URR/RRS mechanism and a serial R mechanism. It could fit both left and right arms for the symmetrical and open structure, and the distance between the elbow and wrist could automatically adjust for different forearm length. Details of the mechanical design are introduced...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813887/the-effects-of-age-and-amplitude-on-wrist-proprioceptive-acuity
#16
Francesca Marini, Charmayne M L Hughes, Pietro Morasso, Lorenzo Masia
This study examined wrist proprioception in a cross-sectional sample of 44 children aged between 8-to 14-years and a control group of 10 neurologically and physically healthy adults. Using a 3-degrees of freedom robotic device, participants performed an ipsilateral joint position matching task in which target amplitude (40% or 80% functional range of motion [fRoM]) and degrees-of-freedom (Flexion/Extension [FE], Radial/Ulnar deviation [RUD], Pronation/Supination [PS]) were manipulated. Results indicated that proprioceptive function became more accurate and consistent over the developmental spectrum, but that the ability to utilize proprioceptive feedback did not reach adult levels till the age of 10-11 years...
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
#17
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]
https://www.readbyqxmd.com/read/28813882/validation-of-the-efficiency-of-a-robotic-rehabilitation-training-system-for-recovery-of-severe-plegie-hand-motor-function-after-a-stroke
#18
Hirofumi Tanabe, Munehiro Ikuta, Yoshifumi Morita
We have developed a rehabilitation training system called the Useful and Ultimate Rehabilitation System PARKO (UR System PARKO) to promote the recovery of motor function of the severe chronic plegic hand of stroke patients. This system was equipped with two functions to realize two conditions: (1) fixing of all fingers to a hyperextended position and (2) extending the elbow joint while applying resistance load to the fingertips. A clinical test was conducted with two patients to determine the therapeutic effect of the UR System PARKO for severe plegic hand...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813868/relationship-between-assistive-torque-and-knee-biomechanics-during-exoskeleton-walking-in-individuals-with-crouch-gait
#19
Zachary F Lerner, Diane L Damiano, Thomas C Bulea
Crouch or "flexed knee" gait is a pathological gait pattern affecting many individuals with cerebral palsy. One proposed method to alleviate crouch is to provide robotic assistance to knee extension during walking. The purpose of this study was to evaluate how the magnitude of knee extensor torque affects knee kinematics, kinetics, and muscle activity. Motion capture, ground reaction force and electromyography data were collected while four participants with crouch gait from cerebral palsy walked with assistance from a novel robotic exoskeleton on an instrumented treadmill...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813855/an-optimized-design-of-a-parallel-robot-for-gait-training
#20
Marco Maddalena, Mozafar Saadat, Alireza Rastegarpanah, Rui C V Loureiro
The guidelines for enhancing robot-assisted training for post-stroke survivors head towards increasing exercise realism and variability; in particular lower limb rehabilitation needs the patient to feel challenged to adapt his locomotion and dynamic balance capabilities to different virtual ground scenarios. This paper proposes a design for a robot whose end-effector acts as a footplate to be in permanent contact with the user's foot during practice: the structure is such that it enables the user's foot to rotate around three axis, differently from what is currently available in the research for gait training; the parallel kinematic structure and the dimensional synthesis allow a suitable range of motion and aim at limiting device mass, footprint and reaction forces on the actuators when rendering virtual ground...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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