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https://www.readbyqxmd.com/read/28814053/mobio-a-5-dof-trans-humeral-robotic-prosthesis
#1
R Achintha M Abayasiri, D G Kanishka Madusanka, N M P Arachchige, A T S Silva, R A R C Gopura
In this paper, a 5 DOF trans-humeral robotic prosthesis: MoBio is proposed. MoBio includes 2 DOF at wrist which is rare in other trans-humeral prostheses. Through anthropometric features MoBio prosthetic arm can achieve elbow flexion/extension, forearm supination/pronation, wrist radial/ulnar deviation, wrist flexion/extension and compound motion of thumb and index finger. An EMG based control method which uses EMG signals of the biceps brachii and triceps brachii, is used with a motion switching mechanism to control the prosthesis...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814041/assessing-bradykinesia-in-parkinson-s-disease-using-gyroscope-signals
#2
S Summa, J Tosi, F Taffoni, L Di Biase, M Marano, A Cascio Rizzo, M Tombini, G Di Pino, D Formica
Parkinson's disease (PD) is a neurodegenerative brain disorder that slowly brings on the dopaminergic neurons death. The depletion of the dopaminergic signal causes the onset of motor symptoms such as tremor, bradykinesia and rigidity. Usually, neurologists regularly monitor motor symptoms and motor fluctuations using the MDS-UPDRS part III clinical scale. Nevertheless, to have a more objective and quantitative evaluation, it is possible to assess the cardinal motor symptoms of PD using wearable sensors and portable robotic devices...
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
#3
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/28814022/estimating-anatomical-wrist-joint-motion-with-a-robotic-exoskeleton
#4
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/28814021/simultaneous-estimation-of-human-and-exoskeleton-motion-a-simplified-protocol
#5
M T Alvarez, D Torricelli, A J Del-Ama, D Pinto, J Gonzalez-Vargas, J C Moreno, A Gil-Agudo, J L Pons
Adequate benchmarking procedures in the area of wearable robots is gaining importance in order to compare different devices on a quantitative basis, improve them and support the standardization and regulation procedures. Performance assessment usually focuses on the execution of locomotion tasks, and is mostly based on kinematic-related measures. Typical drawbacks of marker-based motion capture systems, gold standard for measure of human limb motion, become challenging when measuring limb kinematics, due to the concomitant presence of the robot...
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
#6
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/28814000/preliminary-study-of-a-robotic-foot-ankle-prosthesis-with-active-alignment
#7
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/28813969/prediction-of-user-preference-over-shared-control-paradigms-for-a-robotic-wheelchair
#8
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/28813965/cheap-or-robust-the-practical-realization-of-self-driving-wheelchair-technology
#9
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/28813936/using-upper-limb-kinematics-to-assess-cognitive-deficits-in-people-living-with-both-hiv-and-stroke
#10
Kevin D Bui, Roshan Rai, Michelle J Johnson
In this study, we aim to explore ways to objectively assess cognitive deficits in the stroke and HIV/stroke populations, where cognitive and motor impairments can be hard to separate. Using an upper limb rehabilitation robot called the Haptic TheraDrive, we collect performance error scores and motor learning data on the impaired and unimpaired limb during a trajectory tracking task. We compare these data to clinical cognitive scores. The preliminary results suggest a possible relationship between unimpaired upper limb performance error and visuospatial/executive function cognitive domains, but more work needs to be done to further investigate this...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813928/difficulty-adaptation-in-a-competitive-arm-rehabilitation-game-using-real-time-control-of-arm-electromyogram-and-respiration
#11
A Darzi, M Gorsic, D Novak
Rehabilitation robots are often combined with serious games that motivate patients and keep them exercising at high intensities. A promising type of game are competitive rehabilitation games, but few difficulty adaptation algorithms have been presented for them. This paper thus presents the adaptation of difficulty in a competitive arm rehabilitation game based on two physiological signals: respiration and electromyography of the posterior deltoid. It consists of three smaller studies: an open-loop respiration study, a closed-loop respiration study (where a controller attempts to maintain respiration rate at preset levels), and a closed-loop electromyogram study (where a controller attempts to keep the electromyogram at preset levels)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813909/methodologies-for-determining-minimal-grasping-requirements-and-sensor-locations-for-semg-based-assistive-hand-orthosis-for-sci-patients
#12
Youngmok Yun, Paria Esmatloo, Alfredo Serrato, Curtis A Merring, Ashish D Deshpande
In this paper, we address two of the most important challenges in development and control of assistive hand orthosis. First, supported by experimental results, we present a method to determine an optimal set of grasping poses, essential for grasping daily objects. Second, we present a method for determining the minimal number of surface EMG sensors and their locations to carry out EMG-based intention recognition and to control the assistive device by differentiating between the hand poses.
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
#13
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/28813846/closed-loop-emg-informed-model-based-analysis-of-human-musculoskeletal-mechanics-on-rough-terrains
#14
C Varotto, Z Sawacha, L Gizzi, D Farina, M Sartori
This work aims at estimating the musculoskeletal forces acting in the human lower extremity during locomotion on rough terrains. We employ computational models of the human neuro-musculoskeletal system that are informed by multi-modal movement data including foot-ground reaction forces, 3D marker trajectories and lower extremity electromyograms (EMG). Data were recorded from one healthy subject locomoting on rough grounds realized using foam rubber blocks of different heights. Blocks arrangement was randomized across all locomotion trials to prevent adaptation to specific ground morphology...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813843/addition-of-forelimb-training-reduces-gains-from-robotic-gait-training-in-a-rat-model-of-spinal-cord-injury
#15
Nathan D Neckel, Haining Dai, Olga C Rodriguez
To restore locomotor function following spinal cord injury the disrupted descending supraspinal drive needs to be re-connected to regions caudal to the injury. Robotic gait training aims to facilitate recovery by stimulating the proprioceptive networks of the legs in a coordinated walking pattern while the descending supraspinal connections are re-established. In incomplete injuries, it is believed that the interneuronal networks near the injury site form relay circuits to reroute the supraspinal signals through the spared tissue...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813814/toward-quantitative-characterization-of-essential-tremor-for-future-tremor-suppression
#16
Steven K Charles, Daniel W Geiger, Andrew D Davidson, Adam C Pigg, C Paul Curtis, Brendon C Allen
Tremor is the most common movement deficit and manifests in a variety of disorders, including Essential Tremor, Parkinson's Disease, Dystonia, and Cerebellar Ataxia. Although medication and surgical interventions have significantly reduced patient suffering, they are only partially effective and can carry undesired side effects, leaving many patients without satisfactory treatment options. Wearable tremor-suppressing devices could provide an alternative to medication and surgery. Multiple research groups have developed orthotic prototypes to low-pass filter tremor, but these devices have not yet been optimized for in-vivo use...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813795/electromechanical-delay-in-the-tibialis-anterior-muscle-during-time-varying-ankle-dorsiflexion
#17
A Ubeda, A Del Vecchio, M Sartori, S T Puente, F Torres, J M Azorin, D Farina
We evaluated the electromechanical delay (EMD) for the tibialis anterior (TA) muscle during the performance of time-varying ankle dorsiflexions. Subjects were asked to track a sinusoidal trajectory, for a range of amplitudes and frequencies. Motor unit (MU) action potential trains were identified from surface electromyography (EMG) decomposition and summed to generate the cumulative spike train (CST). CST and the exerted force were cross-correlated to identify the delay between the CST and force, which was considered as an estimate of the EMD...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813793/the-combined-action-of-a-passive-exoskeleton-and-an-emg-controlled-neuroprosthesis-for-upper-limb-stroke-rehabilitation-first-results-of-the-retrainer-project
#18
E Ambrosini, S Ferrante, J Zajc, M Bulgheroni, W Baccinelli, E d'Amico, T Schauer, C Wiesener, M Russold, M Gfoehler, M Puchinger, M Weber, S Becker, K Krakow, M Rossini, D Proserpio, G Gasperini, F Molteni, G Ferrigno, A Pedrocchi
The combined use of Functional Electrical Stimulation (FES) and robotic technologies is advocated to improve rehabilitation outcomes after stroke. This work describes an arm rehabilitation system developed within the European project RETRAINER. The system consists of a passive 4-degrees-of-freedom exoskeleton equipped with springs to provide gravity compensation and electromagnetic brakes to hold target positions. FES is integrated in the system to provide additional support to the most impaired muscles. FES is triggered based on the volitional EMG signal of the same stimulated muscle; in order to encourage the active involvement of the patient the volitional EMG is also monitored throughout the task execution and based on it a happy or sad emoji is visualized at the end of each task...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813788/a-novel-pneumatic-stimulator-for-the-investigation-of-noise-enhanced-proprioception
#19
Anna-Maria Georgarakis, Harshal A Sonar, Mike D Rinderknecht, Olivier Lambercy, Bernard J Martin, Verena Klamroth-Marganska, Jamie Paik, Robert Riener, Jaime E Duarte
Executing coordinated movements requires that motor and sensory systems cooperate to achieve a motor goal. Impairment of either system may lead to unstable and/or inaccurate movements. In rehabilitation training, however, most approaches have focused on the motor aspects of the control loop. We are examining mechanisms that may enhance the sensory system to improve motor control. More precisely, the effects of stochastic subliminal vibratory tactile stimulation on wrist proprioception. We developed a device - based on a novel soft pneumatic actuator skin technology - to stimulate multiple sites simultaneously and independently...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813777/quality-focus-march-is-colon-cancer-awareness-month
#20
Stephan D Schroeder
No abstract text is available yet for this article.
March 2017: South Dakota Medicine: the Journal of the South Dakota State Medical Association
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