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https://www.readbyqxmd.com/read/28814060/a-soft-wearable-robot-for-the-shoulder-design-characterization-and-preliminary-testing
#1
Ciaran T O'Neill, Nathan S Phipps, Leonardo Cappello, Sabrina Paganoni, Conor J Walsh
In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder abduction and horizontal flexion/extension. The advantage of a textile-based approach is that the robot can be lightweight, low-profile, comfortable and non-restrictive to the wearer, and easy to don like an item of clothing...
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
#2
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/28814027/challenges-in-using-compliant-ligaments-for-position-estimation-within-robotic-joints
#3
Felix Russell, Lei Gao, Peter Ellison, Ravi Vaidyanathan
The mechanical advantages of bio-inspired condylar robotic knee joints for use in prosthetics or rehabilitation has been argued extensively in literature. A common limitation of these designs is the difficulty of estimating joint angle and therefore accurately controlling the joint. Furthermore, the potential role of ligament-like structures in robotic knees is not very well established. In this work, we investigate the role of compliant stretch sensing ligaments and their integration into a condylar robotic knee...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814016/applying-a-soft-robotic-glove-as-assistive-device-and-training-tool-with-games-to-support-hand-function-after-stroke-preliminary-results-on-feasibility-and-potential-clinical-impact
#4
Gerdienke B Prange-Lasonder, Bob Radder, Anke I R Kottink, Alejandro Melendez-Calderon, Jaap H Buurke, Johan S Rietman
Recent technological developments regarding wearable soft-robotic devices extend beyond the current application of rehabilitation robotics and enable unobtrusive support of the arms and hands during daily activities. In this light, the HandinMind (HiM) system was developed, comprising a soft-robotic, grip supporting glove with an added computer gaming environment. The present study aims to gain first insight into the feasibility of clinical application of the HiM system and its potential impact. In order to do so, both the direct influence of the HiM system on hand function as assistive device and its therapeutic potential, of either assistive or therapeutic use, were explored...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814011/adaptive-control-of-an-exoskeleton-robot-with-uncertainties-on-kinematics-and-dynamics
#5
Brahim Brahmi, Maarouf Saad, Cristobal Ochoa-Luna, Mohammad H Rahman
In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814005/distance-based-kinematics-of-the-five-oblique-axis-thumb-model-with-intersecting-axes-at-the-metacarpophalangeal-joint
#6
Nicolas Rojas, Aaron M Dollar
This paper proposes a novel and simple method to compute all possible solutions of the inverse kinematics problem of the five-oblique-axis thumb model with intersecting axes at the metacarpophalangeal joint. This thumb model is one of the suggested results by a magnetic-resonance-imaging-based study that, in contrast to those based on cadaver fingers or on the tracking of the surface of the fingers, takes into account muscle and ligament behaviors and avoids inaccuracies resulting from the movement of the skin with respect to the bones...
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/28813997/dynamic-elasticity-measurement-for-prosthetic-socket-design
#8
Yujin Kim, Junghoon Kim, Hyeryon Son, Youngjin Choi
The paper proposes a novel apparatus to measure the dynamic elasticity of human limb in order to help the design and fabrication of the personalized prosthetic socket. To take measurements of the dynamic elasticity, the desired force generated as an exponential chirp signal in which the frequency increases and amplitude is maintained according to time progress is applied to human limb and then the skin deformation is recorded, ultimately, to obtain the frequency response of its elasticity. It is referred to as a Dynamic Elasticity Measurement Apparatus (DEMA) in the paper...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813976/megane-pro-myo-electricity-visual-and-gaze-tracking-data-acquisitions-to-improve-hand-prosthetics
#9
Francesca Giordaniello, Matteo Cognolato, Mara Graziani, Arjan Gijsberts, Valentina Gregori, Gianluca Saetta, Anne-Gabrielle Mittaz Hager, Cesare Tiengo, Franco Bassetto, Peter Brugger, Barbara Caputo, Henning Muller, Manfredo Atzori
During the past 60 years scientific research proposed many techniques to control robotic hand prostheses with surface electromyography (sEMG). Few of them have been implemented in commercial systems also due to limited robustness that may be improved with multimodal data. This paper presents the first acquisition setup, acquisition protocol and dataset including sEMG, eye tracking and computer vision to study robotic hand control. A data analysis on healthy controls gives a first idea of the capabilities and constraints of the acquisition procedure that will be applied to amputees in a next step...
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
#10
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
#11
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/28813954/human-robot-sensor-interface-for-cardiac-rehabilitation
#12
Juan S Lara, Jonathan Casas, Andres Aguirre, Marcela Munera, Monica Rincon-Roncancio, Bahar Irfan, Emmanuel Senft, Tony Belpaeme, Carlos A Cifuentes
Cardiovascular disease is the leading cause of death in the world. A program of cardiac rehabilitation (CR) is related to physical activities or exercises to regain the optimal quality of life. CR relies on the necessity to evaluate, control and supervise a patient's status and progress. This work has two objectives: on the one hand, provide a tool for clinicians to assess the patient's status during CR. On the other hand, there is evidence that robots can motivate patients during therapeutic procedures. Our sensor interface explores the possibility to integrate a robotic agent into cardiac therapy...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813938/online-sparse-gaussian-process-based-human-motion-intent-learning-for-an-electrically-actuated-lower-extremity-exoskeleton
#13
Yi Long, Zhi-Jiang Du, Chao-Feng Chen, Wei Dong, Wei-Dong Wang
The most important step for lower extremity exoskeleton is to infer human motion intent (HMI), which contributes to achieve human exoskeleton collaboration. Since the user is in the control loop, the relationship between human robot interaction (HRI) information and HMI is nonlinear and complicated, which is difficult to be modeled by using mathematical approaches. The nonlinear approximation can be learned by using machine learning approaches. Gaussian Process (GP) regression is suitable for high-dimensional and small-sample nonlinear regression problems...
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
#14
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
#15
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/28813912/transverse-forces-versus-modified-ashworth-scale-for-upper-limb-flexion-extension-in-para-sagittal-plane
#16
Nitin Seth, Denise Johnson, Hussein A Abdullah
Spasticity is a common impairment following an upper motor neuron lesion in conditions such as stroke and brain injury. A clinical issue is how to best quantify and measure spasticity. Recently, research has been performed to develop new methods of spasticity quantification using various systems. This paper follows up on previous work taking a closer look at the role of transversal forces obtained via rehabilitation robot for motions in the para-sagittal plane. Results from 45 healthy individuals and 40 individuals with acquired brain injury demonstrate that although the passive upper motions are vertical, horizontal forces into and away from the individual's body demonstrate a relationship with the Modified Ashworth Scale...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813908/form-and-function-exemplary-analysis-of-the-significance-for-the-design-of-rehabilitation-devices
#17
Johanna Baier, Lisa-Marie Kuchinke, Marc Neumann, Beate Bender
Stroke often leads to motor impairment that could be recovered by extensive training. Multiple devices exist to support the rehabilitation process. Most systems interact directly with the patient and therefore, depend strongly on the ergonomic design which is determined by its form and function. In this work the interdependence of form and function and their particular significance for the development of rehabilitation devices are outlined. As a case study the development of a hand rehabilitation device is presented, where two approaches answering different key questions to focus either on function or form were realized at the same time to generate different concepts...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813899/the-effects-of-auditory-and-visual-cues-on-timing-synchronicity-for-robotic-rehabilitation
#18
Brittney A English, Ayanna M Howard
In this paper, we explore how the integration of auditory and visual cues can help teach the timing of motor skills for the purpose of motor function rehabilitation. We conducted a study using Amazon's Mechanical Turk in which 106 participants played a virtual therapy game requiring wrist movements. To validate that our results would translate to trends that could also be observed during robotic rehabilitation sessions, we recreated this experiment with 11 participants using a robotic wrist rehabilitation system as means to control the therapy game...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813888/fully-embedded-myoelectric-control-for-a-wearable-robotic-hand-orthosis
#19
Franziska Ryser, Tobias Butzer, Jeremia P Held, Olivier Lambercy, Roger Gassert
To prevent learned non-use of the affected hand in chronic stroke survivors, rehabilitative training should be continued after discharge from the hospital. Robotic hand orthoses are a promising approach for home rehabilitation. When combined with intuitive control based on electromyography, the therapy outcome can be improved. However, such systems often require extensive cabling, experience in electrode placement and connection to external computers. This paper presents the framework for a stand-alone, fully wearable and real-time myoelectric intention detection system based on the Myo armband...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813873/automation-of-motor-dexterity-assessment
#20
Patrick Heyer, Luis R Castrejon, Felipe Orihuela-Espina, Luis Enrique Sucar
Motor dexterity assessment is regularly performed in rehabilitation wards to establish patient status and automatization for such routinary task is sought. A system for automatizing the assessment of motor dexterity based on the Fugl-Meyer scale and with loose restrictions on sensing technologies is presented. The system consists of two main elements: 1) A data representation that abstracts the low level information obtained from a variety of sensors, into a highly separable low dimensionality encoding employing t-distributed Stochastic Neighbourhood Embedding, and, 2) central to this communication, a multi-label classifier that boosts classification rates by exploiting the fact that the classes corresponding to the individual exercises are naturally organized as a network...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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