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https://www.readbyqxmd.com/read/28814066/mice-expressing-human-erap1-variants-associated-with-ankylosing-spondylitis-have-altered-t-cell-repertoires-and-nk-cell-functions-as-well-as-increased-in-utero-and-perinatal-mortality
#1
David P W Rastall, Fadel S Alyaquob, Patrick O'Connell, Yuliya Pepelyayeva, Douglas Peters, Sarah Godbehere-Roosa, Cristiane Pereira-Hicks, Yasser A Aldhamen, Andrea Amalfitano
Specific variants of endoplasmic reticulum-associated aminopeptidase 1 (ERAP1) identified by genome-wide association study modify the risk for developing ankylosing spondylitis. We previously confirmed that disease-associated ERAP1 variants have altered enzymatic abilities that can impact upon the production of pro-inflammatory cytokines from cells expressing the same ERAP1 variants. To determine if these ERAP1 variants also impacted immune responses in vivo, we generated two strains of transgenic mice expressing human ERAP1 genes containing non-synonymous single-nucleotide polymorphisms associated with an increased (ERAP1-High) or decreased (ERAP1-Low) risk for developing autoimmune disease...
June 1, 2017: International Immunology
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/28814059/biomot-exoskeleton-towards-a-smart-wearable-robot-for-symbiotic-human-robot-interaction
#3
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/28814055/twiice-a-lightweight-lower-limb-exoskeleton-for-complete-paraplegics
#4
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/28814049/wearable-sensing-for-rehabilitation-after-stroke-bimanual-jerk-asymmetry-encodes-unique-information-about-the-variability-of-upper-extremity-recovery
#5
Diogo S de Lucena, Oliver Stoller, Justin B Rowe, Vicky Chan, David J Reinkensmeyer
Wearable sensing is a new tool for quantifying upper extremity (UE) rehabilitation after stroke. However, it is unclear whether it provides information beyond what is available through standard clinical assessments. To investigate this question, people with a chronic stroke (n=9) wore accelerometers on both wrists for 9 hours on a single day during their daily activities. We used principal components analysis (PCA) to characterize how novel kinematic measures of jerk and acceleration asymmetry, along with conventional measures of limb use asymmetry and clinical function, explained the behavioral variance of UE recovery across participants...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814048/a-mechanism-for-elbow-exoskeleton-for-customised-training
#6
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/28814038/design-and-preliminary-assessment-of-vanderbilt-hand-exoskeleton
#7
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/28814035/decoding-of-individual-finger-movements-from-surface-emg-signals-using-vector-autoregressive-hierarchical-hidden-markov-models-varhhmm
#8
Nebojsa Malesevic, Dimitrije Markovic, Gunter Kanitz, Marco Controzzi, Christian Cipriani, Christian Antfolk
In this paper we present a novel method for predicting individual fingers movements from surface electromyography (EMG). The method is intended for real-time dexterous control of a multifunctional prosthetic hand device. The EMG data was recorded using 16 single-ended channels positioned on the forearm of healthy participants. Synchronously with the EMG recording, the subjects performed consecutive finger movements based on the visual cues. Our algorithm could be described in following steps: extracting mean average value (MAV) of the EMG to be used as the feature for classification, piece-wise linear modeling of EMG feature dynamics, implementation of hierarchical hidden Markov models (HHMM) to capture transitions between linear models, and implementation of Bayesian inference as the classifier...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814017/assessment-of-lower-arm-movements-using-one-inertial-sensor
#9
Fokke B van Meulen, Bert-Jan F van Beijnum, Jaap H Buurke, Peter H Veltink
Reduction of the number of sensors needed to evaluate arm movements, makes a system for the assessment of human body movements more suitable for clinical practice and daily life assessments. In this study, we propose an algorithm to reconstruct lower arm orientation, velocity and position, based on a sensing system which consists of only one inertial measurement unit (IMU) to the forearm. Lower arm movements were reconstructed using a single IMU and assuming that within a measurement there are moments without arm movements...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814000/preliminary-study-of-a-robotic-foot-ankle-prosthesis-with-active-alignment
#10
Andrew K LaPre, Ryan D Wedge, Brian R Umberger, Frank C Sup
Robotic prosthetic foot-ankle prostheses typically aim to replace the lost joint with revolute joints aimed at replicating normal joint biomechanics. In this paper, a previously developed robotic ankle prosthesis with active alignment is evaluated. It uses a four-bar mechanism to inject positive power into the gait cycle while altering the kinematics of the ankle joint and pylon segment to reduce loading on the residual limb. In a single-subject biomechanics analysis, there was a 10% reduction in peak limb pressures and evidence of greater gait symmetry in ground reaction forces when active alignment was implemented compared to walking with the daily use prosthesis...
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
#11
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/28813983/modeling-and-control-of-a-transfemoral-prosthesis-embedding-two-infinitely-variable-transmissions
#12
Renaud Ronsse, Matthias Tummers, Christophe Everarts
In this paper, we report the model of an original actuation concept for a transfemoral prosthesis, relying on the combination of a single power motor, a compliant element (a spring), a mechanical differential, and two infinitely variable transmissions. It allows to manage the mechanical power flows through the device in both directions (i.e. when energy should be produced or dissipated by the knee and ankle), so that the power motor does not face the sharp load power fluctuations. The paper further reports a preliminary approach to synthesize a closed-loop controller for this device, and simulation results of this closed-loop behavior for three locomotion tasks: level-ground walking and stair ascent/descent...
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
#13
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/28813931/making-neurorehabilitation-fun-multiplayer-training-via-damping-forces-balancing-differences-in-skill-levels
#14
Kilian Baur, Peter Wolf, Robert Riener, Jaime E Duarte
Multiplayer environments are thought to increase the training intensity in robot-aided rehabilitation therapy after stroke. We developed a haptic-based environment to investigate the dynamics of two-player training performing time-constrained reaching movements using the ARMin rehabilitation robot. We implemented a challenge level adaptation algorithm that controlled a virtual damping coefficient to reach a desired success rate. We tested the algorithm's effectiveness in regulating the success rate during game play in a simulation with computer-controlled players, in a feasibility study with six unimpaired players, and in a single session with one stroke patient...
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
#15
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/28813866/a-single-session-of-perturbation-based-gait-training-with-the-a-tpad-improves-dynamic-stability-in-healthy-young-subjects
#16
Dario Martelli, Jiyeon Kang, Sunil K Agrawal
Gait and balance disorders are among the most common causes of falls in older adults. Most falls occur as a result of unexpected hazards while walking. In order to improve the effectiveness of current fall-prevention programs, new balance training paradigms aim to strengthen the control of the compensatory responses required after external perturbations. The aim of this study was to analyze the adaptions of reactive and proactive strategies to control stability after repeated exposures to waist-pull perturbations delivered while walking...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813854/automated-stand-up-and-sit-down-detection-for-robot-assisted-body-weight-support-training-with-the-float
#17
Mathias Bannwart, Dominique Emst, Chris Easthope, Marc Bolliger, Georg Rauter
Patients with impaired walking function are often dependent on assistive devices to retrain gait and regain independence in life. To provide adequate support, gait rehabilitation devices have to be manually set to the correct support mode or have to recognize the type and starting point of a certain motion automatically. For automated motion type detection, machine learning-based classification algorithms using sensor signals from different body parts can achieve robust performance. However, until today, there is only little work available to detect motion onset...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813850/cross-wire-assist-suit-concept-for-mobile-and-lightweight-multiple-degree-of-freedom-hip-assistance
#18
Stephen W John, Kenta Murakami, Mayumi Komatsu, Shinobu Adachi
In this paper, we present our cross-wire assist concept, for assisting a single joint in multiple degrees of freedom. It is comprised of four motor driven Bowden cable actuators (wires) per assisted joint, with the wires crossed over each other at the front and rear. Simulation results show that selectively actuating a subset of these wires allows torque to be generated in 6 directions, with the torque magnitude dependent on joint angle. We have built a fully wearable prototype of our assistance device for both hip joints, with 8 high-speed and independently controllable actuators each providing force up to 100 N...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813847/a-research-on-the-postural-stability-of-a-person-wearing-the-lower-limb-exoskeletal-robot-by-the-hat-model
#19
Minsu Chang, Yeongmin Kim, Yoseph Lee, Doyoung Jeon
This paper proposes a method of detecting the postural stability of a person wearing the lower limb exoskeletal robot with the HAT(Head-Arm-Trunk) model. Previous studies have shown that the human posture is stable when the CoM(Center of Mass) of the human body is placed on the BoS(Base of Support). In the case of the lower limb exoskeletal robot, the motion data, which are used for the CoM estimation, are acquired by sensors in the robot. The upper body, however, does not have sensors in each segment so that it may cause the error of the CoM estimation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813812/characterization-of-surface-electromyography-patterns-of-healthy-and-incomplete-spinal-cord-injury-subjects-interacting-with-an-upper-extremity-exoskeleton
#20
Craig G McDonald, Troy A Dennis, Marcia K O'Malley
Rehabilitation exoskeletons may make use of myoelectric control to restore in patients with significant motor impairment following a spinal cord injury (SCI) a sense of volitional control over their limb - a crucial component for recovery of movement. Little investigation has been done into the feasibility of using surface electromyography (sEMG) as an exoskeleton control interface for SCI patients, whose impairment manifests in a highly variable way across the patient population. We have demonstrated that by using only a small subset of features extracted from eight bipolar electrodes recording on the upper arm and forearm muscles, we can achieve high predictive accuracy for the intended direction of motion...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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