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https://www.readbyqxmd.com/read/28814052/grasp-specific-and-user-friendly-interface-design-for-myoelectric-hand-prostheses
#1
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/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/28814036/prosthetic-design-directives-low-cost-hands-within-reach
#3
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/28814008/self-aligning-exoskeleton-hip-joint-kinematic-design-with-five-revolute-three-prismatic-and-one-ball-joint
#4
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/28813969/prediction-of-user-preference-over-shared-control-paradigms-for-a-robotic-wheelchair
#5
Ahmetcan Erdogan, Brenna D Argall
The design of intelligent powered wheelchairs has traditionally focused heavily on providing effective and efficient navigation assistance. Significantly less attention has been given to the end-user's preference between different assistance paradigms. It is possible to include these subjective evaluations in the design process, for example by soliciting feedback in post-experiment questionnaires. However, constantly querying the user for feedback during real-world operation is not practical. In this paper, we present a model that correlates objective performance metrics and subjective evaluations of autonomous wheelchair control paradigms...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813964/brain-computer-interface-combining-eye-saccade-two-electrode-eeg-signals-and-voice-cues-to-improve-the-maneuverability-of-wheelchair
#6
Ker-Jiun Wang, Lan Zhang, Bo Luan, Hsiao-Wei Tung, Quanfeng Liu, Jiacheng Wei, Mingui Sun, Zhi-Hong Mao
Brain-computer interfaces (BCIs) largely augment human capabilities by translating brain wave signals into feasible commands to operate external devices. However, many issues face the development of BCIs such as the low classification accuracy of brain signals and the tedious human-learning procedures. To solve these problems, we propose to use signals associated with eye saccades and blinks to control a BCI interface. By extracting existing physiological eye signals, the user does not need to adapt his/her brain waves to the device...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813959/-wink-to-grasp-comparing-eye-voice-emg-gesture-control-of-grasp-with-soft-robotic-gloves
#7
Bernardo Noronha, Sabine Dziemian, Giuseppe A Zito, Charalambos Konnaris, A Aldo Faisal
The ability of robotic rehabilitation devices to support paralysed end-users is ultimately limited by the degree to which human-machine-interaction is designed to be effective and efficient in translating user intention into robotic action. Specifically, we evaluate the novel possibility of binocular eye-tracking technology to detect voluntary winks from involuntary blink commands, to establish winks as a novel low-latency control signal to trigger robotic action. By wearing binocular eye-tracking glasses we enable users to directly observe their environment or the actuator and trigger movement actions, without having to interact with a visual display unit or user interface...
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
#8
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/28813945/towards-a-situation-and-user-aware-multi-modal-motorized-toilet-system-to-assist-older-adults-with-disabilities-a-user-requirements-study
#9
T Pilissy, A Toth, G Fazekas, A Sobjak, R Rosenthal, T Luftenegger, P Panek, P Mayer
In the recent decades state of the art technologies appeared in many areas to assist older adults with disabilities. However, one very essential activity of daily life, the toileting remained without any relevant development. The iToilet project of the European Union focuses on the development of an intelligent and motorized toilet system to enable independent toilet use for older adults with disabilities. To begin the development, the user requirements of end-users were assessed by means of focus group interviews and questionnaires...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813934/a-hybrid-brain-machine-interface-based-on-eeg-and-emg-activity-for-the-motor-rehabilitation-of-stroke-patients
#10
Andrea Sarasola-Sanz, Nerea Irastorza-Landa, Eduardo Lopez-Larraz, Carlos Bibian, Florian Helmhold, Doris Broetz, Niels Birbaumer, Ander Ramos-Murguialday
Including supplementary information from the brain or other body parts in the control of brain-machine interfaces (BMIs) has been recently proposed and investigated. Such enriched interfaces are referred to as hybrid BMIs (hBMIs) and have been proven to be more robust and accurate than regular BMIs for assistive and rehabilitative applications. Electromyographic (EMG) activity is one of the most widely utilized biosignals in hBMIs, as it provides a quite direct measurement of the motion intention of the user...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813929/soft-brain-machine-interfaces-for-assistive-robotics-a-novel-control-approach
#11
Lucia Schiatti, Jacopo Tessadori, Giacinto Barresi, Leonardo S Mattos, Arash Ajoudani
Robotic systems offer the possibility of improving the life quality of people with severe motor disabilities, enhancing the individual's degree of independence and interaction with the external environment. In this direction, the operator's residual functions must be exploited for the control of the robot movements and the underlying dynamic interaction through intuitive and effective human-robot interfaces. Towards this end, this work aims at exploring the potential of a novel Soft Brain-Machine Interface (BMI), suitable for dynamic execution of remote manipulation tasks for a wide range of patients...
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
#12
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
#13
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/28813917/intuitive-adaptive-orientation-control-of-assistive-robots-for-people-living-with-upper-limb-disabilities
#14
Dinh-Son Vu, Ulysse Cote Allard, Clement Gosselin, Francois Routhier, Benoit Gosselin, Alexandre Campeau-Lecours
Robotic assistive devices enhance the autonomy of individuals living with physical disabilities in their day-to-day life. Although the first priority for such devices is safety, they must also be intuitive and efficient from an engineering point of view in order to be adopted by a broad range of users. This is especially true for assistive robotic arms, as they are used for the complex control tasks of daily living. One challenge in the control of such assistive robots is the management of the end-effector orientation which is not always intuitive for the human operator, especially for neophytes...
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
#15
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/28813885/the-effect-of-robot-dynamics-on-smoothness-during-wrist-pointing
#16
Andrew Erwin, Evan Pezent, Joshua Bradley, Marcia K O'Malley
The improvement of movement smoothness over the course of therapy is one of the positive outcomes observed during robotic rehabilitation. Although movements are generally robust to disturbances, certain perturbations might disrupt an individual's ability to produce these smooth movements. In this paper, we explore how a rehabilitation robot's inherent dynamics impact movement smoothness during pointing tasks. Able-bodied participants made wrist pointing movements under four different operating conditions. Despite the relative transparency of the device, inherent dynamic characteristics negatively impacted movement smoothness...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813845/an-assistance-device-to-help-people-with-trunk-impairment-maintain-posture
#17
Tomoka Ogura, Taku Itami, Ken'ichi Yano, Ichidai Mori, Kazuhiro Kameda
People with trunk impairment cannot lean forward because of the dysfunction of the trunk resulting from events such as cervical cord injury (CCI). It is therefore difficult for such people to work at a table because they may easily fall from their wheelchair, and it is also hard for them to return to their original position. This limits the activities of daily living (ADLs) of people with trunk impairment. These problems can be solved to some extent with equipment such as a wheelchair belt or a spinal orthosis that can help the person to maintain his or her posture...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813841/design-and-preliminary-evaluation-of-a-multi-robotic-system-with-pelvic-and-hip-assistance-for-pediatric-gait-rehabilitation
#18
Evelyn J Park, Jiyeon Kang, Hao Su, Paul Stegall, Daniel L Miranda, Wen-Hao Hsu, Mustafa Karabas, Nathan Phipps, Sunil K Agrawal, Eugene C Goldfield, Conor J Walsh
This paper presents a modular, computationally-distributed "multi-robot" cyberphysical system designed to assist children with developmental delays in learning to walk. The system consists of two modules, each assisting a different aspect of gait: a tethered cable pelvic module with up to 6 degrees of freedom (DOF), which can modulate the motion of the pelvis in three dimensions, and a two DOF wearable hip module assisting lower limb motion, specifically hip flexion. Both modules are designed to be lightweight and minimally restrictive to the user, and the modules can operate independently or in cooperation with each other, allowing flexible system configuration to provide highly customized and adaptable assistance...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813838/developing-safe-fall-strategies-for-lower-limb-exoskeletons
#19
Mahsa Khalili, Jaimie F Borisoff, H F Machiel Van der Loos
One of the main challenges in the use of a powered lower limb exoskeleton (LLE) is to ensure that balance is maintained throughout the operation of the device. Since no control strategy has yet been implemented that prevents falls in the case of a loss of balance, head or other serious injuries may occur during independent use of LLEs in the event of a fall. These safety concerns limit LLEs in the community to supervised use only. Using the backward fall as a model, we used optimization techniques to develop safe fall control strategies in order to avoid head impact and mitigate the impact velocity of the hips...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813825/research-of-the-bws-system-for-lower-extremity-rehabilitation-robot
#20
Xiao Zhang, Weida Li, Juan Li, Xiaowei Cai
Body weight support (BWS) system is increasingly used in conjunction with treadmills to assist the patients with neurological impairments. Owing to lower limbs of the patients unable to bear the whole weight during the rehabilitation training, some weight can be removed to help the patients recover the basic walking ability gradually. Therefore, considering the man-machine relationship and the effects of the rehabilitation, a wire-driven BWS system is designed. The main unit of the system is an active closed-loop controlled drive to generate the exact desired force...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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