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https://www.readbyqxmd.com/read/28814003/a-springs-actuated-finger-exoskeleton-from-mechanical-design-to-spring-variables-evaluation
#1
Roberto Bortoletto, Ashley N Mello, Davide Piovesan
In the context of post-stroke patients, suffering of hemiparesis of the hand, robot-aided neuro-motor rehabilitation allows for intensive rehabilitation treatments and quantitative evaluation of patients' progresses. This work presents the design and evaluation of a spring actuated finger exoskeleton. In particular, the spring variables and the interaction forces between the assembly and the hand were investigated, in order to assess the effectiveness of the proposed exoskeleton.
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
#2
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/28813961/identifying-the-effects-of-using-integrated-haptic-feedback-for-gait-rehabilitation-of-stroke-patients
#3
Muhammad Raheel Afzal, Sanghun Pyo, Min-Kyun Oh, Young Sook Park, Jungwon Yoon
This paper evaluates the prospects of using a novel Integrated Haptic Feedback (IHF) system. IHF can provide over-ground gait training regimens for post-stroke ambulatory subjects. IHF system combines the use of a portable cane for kinesthetic feedback and a wearable vibrotactor array for tactile feedback. Continuous somatosensory input is aiforded to the users at the handle of cane; it serves the purpose of balance assurance at higher gait speeds. Besides, restricted use of upper limb for weight-bearing inspires the users to involve the paretic lower limbs more actively...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813958/quantitative-assessment-of-motor-functions-post-stroke-responsiveness-of-upper-extremity-robotic-measures-and-its-task-dependence
#4
Asif Hussain, Aamani Budhota, Sara Contu, Simone Kager, Deshmukh A Vishwanath, Christopher W K Kuah, Lester H L Yam, Karen S G Chua, Lorenzo Masia, Domenico Campolo
Technology aided measures offer a sensitive, accurate and time-efflcient approach for the assessment of sensorimotor function after neurological impairment compared to standard clinical assessments. This preliminary study investigated the relationship between task definition and its effect on robotic measures using a planar, two degree of freedom, robotic-manipulator (H-Man). Four chronic stroke participants (49.5±11.95 years, 2 Female, FMA: 37.5±13.96) and eight healthy control participants (26.25± 4.70 years, 2 Female) participated in the study...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813914/data-sample-size-needed-for-analysis-of-kinematic-and-muscle-synergies-in-healthy-and-stroke-populations
#5
Navid Lambert-Shirzad, H F Machiel Van der Loos
Multiple studies have suggested the central nervous system (CNS) generates motions by using modular control of muscles and joints (synergies). However, the synergies reported by these studies are task dependent and might not reflect the true control strategies adopted by the CNS. Studying exploratory motions (EMs) can reveal biomechanical constraints and motor control strategies in healthy and clinical populations. The first logical step to consider EMs in study of motor synergies is to determine how much data is required to reliably and fully profile the motion patterns of an individual...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813904/task-directionality-impacts-the-ability-of-individuals-with-chronic-hemiparetic-stroke-to-match-torques-between-arms-preliminary-findings
#6
Nina A van der Helm, Netta Gurari, Justin M Drogos, Julius P A Dewald
Post hemiparetic stroke an individual may face difficulty performing bimanual tasks due to an asymmetry in their arms' strengths. Here, we determined whether participants with a strength asymmetry were impaired bi-directionally when matching torques between arms (i.e., paretic arm matches non-paretic arm, non-paretic arm matches paretic arm). Six participants with chronic hemiparetic stroke and four participants without neurological impairments partook in this study. First, we identified the maximum voluntary torque that participants could generate about each elbow joint (τmvt)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813894/validity-of-a-sensor-based-table-top-platform-to-measure-upper-limb-function
#7
Michael Mace, Sarah Guy, Asif Hussain, Edith Diane Playford, Nick Ward, Sivakumar Balasubramanian, Etienne Burdet
Objective measurement is an essential part of the assessment process in neurological dysfunction such as stroke. However, current clinical scores are insensitive and based on subjective observation from experts. Technology provides an opportunity for enhanced accuracy and specificity of objective measurement. This study describes the use of an interactive force-sensitive table-top platform for the assessment of reach in post-stroke patients, admitted as part of a three week intensive upper limb training programme...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813890/online-adaptive-assistance-control-in-robot-based-neurorehabilitation-therapy
#8
Fabio Stroppa, Simone Marcheschi, Nicola Mastronicola, Claudio Loconsole, Antonio Frisoli
Repetitive and task specific robot-based rehabilitation has been proved to be effective for motor recovery over time. During a therapy, the task should improve subject's impaired movements, but also enhance their efforts for a more effective recovery. This requires an accurate tuning of the task difficulty, which should be tailored directly to the patient. In this work, we propose a system for real-time assistance adaptation based on online performance evaluation for post-stroke subjects. In particular, the aim of the system is to implement the "assist-as-needed" paradigm based on actual patients' motor skills during a therapy session with an active upper-limb robotic exoskeleton...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813889/design-of-a-clinically-relevant-upper-limb-exoskeleton-robot-for-stroke-patients-with-spasticity
#9
Dong Jin Lee, Sung Jin Bae, Sung Ho Jang, Pyung Hun Chang
The purpose of this research is to propose a design of a clinically relevant upper-limb (hand, wrist, and elbow) exoskeleton that meets the clinical requirements. At first, the proposed robot was designed to have sufficient torque for passive exercise therapy and spasticity measurement of post-stroke patients with spasticity (grade 3 or lower in Modified Ashworth Scale). Because the therapy of patients with high level spasticity could be laborious for therapists by increased muscle tone, and the patients tend not to get enough rehabilitation treatment...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813874/effect-of-human-robot-interaction-on-muscular-synergies-on-healthy-people-and-post-stroke-chronic-patients
#10
A Scano, A Chiavenna, M Caimmi, M Malosio, L M Tosatti, F Molteni
Robot-assisted training is a widely used technique to promote motor re-learning on post-stroke patients that suffer from motor impairment. While it is commonly accepted that robot-based therapies are potentially helpful, strong insights about their efficacy are still lacking. The motor re-learning process may act on muscular synergies, which are groups of co-activating muscles that, being controlled as a synergic group, allow simplifying the problem of motor control. In fact, by coordinating a reduced amount of neural signals, complex motor patterns can be elicited...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813871/clinical-effectiveness-of-combined-virtual-reality-and-robot-assisted-fine-hand-motion-rehabilitation-in-subacute-stroke-patients
#11
Xianwei Huang, Fazel Naghdy, Golshah Naghdy, Haiping Du
Robot-assisted therapy is regarded as an effective and reliable method for the delivery of highly repetitive rehabilitation training in restoring motor skills after a stroke. This study focuses on the rehabilitation of fine hand motion skills due to their vital role in performing delicate activities of daily living (ADL) tasks. The proposed rehabilitation system combines an adaptive assist-as-needed (AAN) control algorithm and a Virtual Reality (VR) based rehabilitation gaming system (RGS). The developed system is described and its effectiveness is validated through clinical trials on a group of eight subacute stroke patients for a period of six weeks...
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
#12
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/28813863/comparison-of-kinematic-and-emg-parameters-between-unassisted-fixed-and-adaptive-stiffness-robotic-assisted-ankle-movements-in-post-stroke-subjects
#13
Juan C Perez-Ibarra, Adriano A G Siqueira
In this paper, we present an assist-as-needed scheme that effectively adapted the assistance provided by an ankle rehabilitation robot according to patient's participation and performance during therapeutic movements. We performed an error-based estimation of the ankle impedance as a valid measure of the patient participation. Then, we computed the amount of robotic assistance by three steps: normalization of the combined patient-robot stiffness, optimization of patientrobot interaction, and finally, adaptation of the level of the robotic assistance according to patient's performance while playing a serious game...
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
#14
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]
https://www.readbyqxmd.com/read/28813848/preliminary-assessment-of-a-lower-limb-exoskeleton-controller-for-guiding-leg-movement-in-overground-walking
#15
Andres Martinez, Brian Lawson, Michael Goldfarb
This paper describes the design, implementation, and preliminary validation of a controller for a powered lower-limb exoskeleton that reshapes a user's leg movement during over-ground walking. The intended application of the controller is to facilitate gait training for individuals suffering from post-stroke hemiparesis. The controller mimics a kinematic constraint between the knee and hip joints during the swing phase of gait, such that movement is not dependent on time (i.e., step time is determined entirely by the user)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813837/walking-speed-intention-model-using-soleus-electromyogram-signal-of-nondisabled-and-post-stroke-hemiparetic-patients
#16
Sang Hun Chung, Taejin Choi, Yoha Hwang, Hyungmin Kim, Seung-Jong Kim, Min Ho Chun, Jong Min Lee
It is well known that the activation of plantar flexors have a strong influence on the walking speed. If the gait speed can be predicted using this relationship, a post-stroke hemiparetic patient could control a gait rehabilitation robot according to his or her gait intention, and the robotic gait rehabilitation effect could be further improved. To find out this relationship, 9 nondisabled subjects and 4 chronic post-stroke hemiparetic subjects performed overground level walking at a comfortable pace, a slow pace, a fast pace, and an increasing pace with electromyogram sensors attached on plantar flexors...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813835/motor-adaptation-to-lateral-pelvis-assistance-force-during-treadmill-walking-in-individuals-post-stroke
#17
Ming Wu, Chao-Jung Hsu, Janis Kim
The goal of this study was to determine how individuals post-stroke response to the lateral assistance force applied to the pelvis during treadmill walking. Ten individuals post chronic (> 6 months) stroke were recruited to participate in this study. A controlled assistance force (∼10% of body weight) was applied to the pelvis in the lateral direction toward the paretic side during stance of the paretic leg. Kinematics of the pelvis and legs were recorded. Applying pelvis assistance force facilitated weight shifting toward the paretic side, resulting in a more symmetrical gait pattern but also inducing an enlarged range of motion of the pelvis during early adaptation period...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813831/the-influence-of-the-re-link-trainer-on-gait-symmetry-in-healthy-adults
#18
Sarah Ward, Lukas Wiedemann, Cathy Stinear, James Stinear, Andrew McDaid
Walking function post-stroke is characterized by asymmetries in gait cycle parameters and joint kinematics. The Re-Link Trainer is designed to provide kinematic constraint to the paretic lower limb, to guide a physiologically normal and symmetrical gait pattern. The purpose of this pilot study was to assess the immediate influence of the Re-Link Trainer on measures of gait symmetry in healthy adults. Participants demonstrated a significantly lower cadence and a 62% reduction in walking speed in the Re-Link Trainer compared to normal walking...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813826/autonomous-hip-exoskeleton-saves-metabolic-cost-of-walking-uphill
#19
Keehong Seo, Jusuk Lee, Young Jin Park
We have developed a hip joint exoskeleton to boost gait function in the elderly and rehabilitation of post-stroke patients. To quantitatively evaluate the impact of the power and mass of the exoskeleton, we measured the metabolic cost of walking on slopes of 0, 5, and 10% grade, once not wearing the exoskeleton and then wearing it. The exoskeleton reduced the metabolic cost by 13.5,15.5 and 9.8% (31.9, 51.6 and 45.6 W) at 0, 5, and 10% grade, respectively. The exoskeleton performance index was computed as 0...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813822/a-novel-robot-assisted-training-approach-for-improving-gait-symmetry-after-stroke
#20
Matjaz Zadravec, Andrej Olensek, Marko Rudolf, Natasa Bizovicar, Nika Goljar, Zlatko Matjacic
Gait asymmetry as a consequence of hemiparesis is known as a serious long-term disability, where typical compensatory gait movements are used by stroke subjects in order to cope with their daily activities. This study presents a gait symmetry training approach consisting of the adaptive robot assistance with the combination of the visual feedback integrated in Balance Assessment Robot for treadmill walking (BAR-TM). The support algorithm is based on gait temporal parameters that change the level of assistive support, which was triggered at different gait subphase events...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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