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https://www.readbyqxmd.com/read/28814056/design-of-a-lightweight-tethered-torque-controlled-knee-exoskeleton
#1
Kirby Ann Witte, Andreas M Fatschel, Steven H Collins
Lower-limb exoskeletons show promise for improving gait rehabilitation for those with chronic gait abnormalities due to injury, stroke or other illness. We designed and built a tethered knee exoskeleton with a strong lightweight frame and comfortable, four-point contact with the leg. The device is structurally compliant in select directions, instrumented to measure joint angle and applied torque, and is lightweight (0.76 kg). The exoskeleton is actuated by two off-board motors. Closed loop torque control is achieved using classical proportional feedback control with damping injection in conjunction with iterative learning...
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
#2
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/28814040/training-wrist-extensor-function-and-detecting-unwanted-movement-strategies-in-an-emg-controlled-visuomotor-task
#3
Mingxing Lyu, Charles Lambelet, Daniel Woolley, Xue Zhang, Weihai Chen, Xilun Ding, Roger Gassert, Nicole Wenderoth
Stroke patients often suffer from severe upper limb paresis. Rehabilitation treatment typically targets motor impairments as early as possible, however, muscular contractions, particularly in the wrist and fingers, are often too weak to produce overt movements, making the initial phase of rehabilitation training difficult. Here we propose a new training tool whereby electromyographic (EMG) activity is measured in the wrist extensors and serves as a proxy of voluntary corticomotor drive. We used the Myo armband to develop a proportional EMG controller which allowed volunteers to perform a simple visuomotor task by modulating wrist extensor activity...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814038/design-and-preliminary-assessment-of-vanderbilt-hand-exoskeleton
#4
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/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
#5
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/28813958/quantitative-assessment-of-motor-functions-post-stroke-responsiveness-of-upper-extremity-robotic-measures-and-its-task-dependence
#6
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/28813943/conjunctive-rehabilitation-of-multiple-cognitive-domains-for-chronic-stroke-patients-in-virtual-reality
#7
Martina Maier, Nuria Leiva Banuelos, Belen Rubio Ballester, Esther Duarte, Paul F M J Verschure
Classically, cognitive deficits have been studied and treated in isolation from each other. A stroke patient is classified as being memory impaired, having executive dysfunction or showing attentional deficits after which a dedicated rehabilitation therapy is given. Studies seldom looked at the relationship between these different cognitive domains and syndromes, although, there is evidence that they might share common neuronal substrates and do not occur in isolation. Here, we propose a novel rehabilitation method in virtual reality to treat cognitive deficits in conjunction and report the preliminary results of an ongoing randomized controlled clinical trial...
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
#8
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/28813906/the-ewrist-a-wearable-wrist-exoskeleton-with-semg-based-force-control-for-stroke-rehabilitation
#9
Charles Lambelet, Mingxing Lyu, Daniel Woolley, Roger Gassert, Nicole Wenderoth
Chronic wrist impairment is frequent following stroke and negatively impacts everyday life. Rehabilitation of the dysfunctional limb is possible but requires extensive training and motivation. Wearable training devices might offer new opportunities for rehabilitation. However, few devices are available to train wrist extension even though this movement is highly relevant for many upper limb activities of daily living. As a proof of concept, we developed the eWrist, a wearable one degree-of-freedom powered exoskeleton which supports wrist extension training...
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
#10
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/28813888/fully-embedded-myoelectric-control-for-a-wearable-robotic-hand-orthosis
#11
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/28813882/validation-of-the-efficiency-of-a-robotic-rehabilitation-training-system-for-recovery-of-severe-plegie-hand-motor-function-after-a-stroke
#12
Hirofumi Tanabe, Munehiro Ikuta, Yoshifumi Morita
We have developed a rehabilitation training system called the Useful and Ultimate Rehabilitation System PARKO (UR System PARKO) to promote the recovery of motor function of the severe chronic plegic hand of stroke patients. This system was equipped with two functions to realize two conditions: (1) fixing of all fingers to a hyperextended position and (2) extending the elbow joint while applying resistance load to the fingertips. A clinical test was conducted with two patients to determine the therapeutic effect of the UR System PARKO for severe plegic hand...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813877/capture-learning-and-classification-of-upper-extremity-movement-primitives-in-healthy-controls-and-stroke-patients
#13
Jorge Guerra, Jasim Uddin, Dawn Nilsen, James Mclnerney, Ammarah Fadoo, Isirame B Omofuma, Shatif Hughes, Sunil Agrawal, Peter Allen, Heidi M Schambra
There currently exist no practical tools to identify functional movements in the upper extremities (UEs). This absence has limited the precise therapeutic dosing of patients recovering from stroke. In this proof-of-principle study, we aimed to develop an accurate approach for classifying UE functional movement primitives, which comprise functional movements. Data were generated from inertial measurement units (IMUs) placed on upper body segments of older healthy individuals and chronic stroke patients. Subjects performed activities commonly trained during rehabilitation after stroke...
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
#14
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/28813837/walking-speed-intention-model-using-soleus-electromyogram-signal-of-nondisabled-and-post-stroke-hemiparetic-patients
#15
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
#16
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/28813821/gait-training-assist-system-of-a-lower-limb-prosthetic-visualizing-muscle-activation-pattern-using-a-color-depth-sensor
#17
Kunihiro Ogata, Tomoki Mita, Toshiaki Tsuji, Yoshio Matsumoto
Some unilateral lower-limb amputees load the intact limb more than the prosthetic limb. This can cause chronic pains, fatigue, lumbago, and joint diseases, including knee osteoarthritis. To avoid and counteract these symptoms it is necessary to improve their asymmetric gait. Increasing the function of the hip abductor muscle is important to maintaining symmetrical weight distribution. Therefore, the purpose of this study is to develop a training assist system, which estimates and visualizes an abductor muscle by using a color-depth sensor...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813820/design-of-an-exoskeleton-ankle-robot-for-robot-assisted-gait-training-of-stroke-patients
#18
Ling-Fung Yeung, Corinna Ockenfeld, Man-Kit Pang, Hon-Wah Wai, Oi-Yan Soo, Sheung-Wai Li, Kai-Yu Tong
Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time: (1) level walking, (2) stair ascending, and (3) stair descending. Chronic stroke patients (n=3) with drop foot gait deficit and moderate motor impairment were recruited to evaluate the system under different walking conditions (Functional Ambulatory Category: FAC=4...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813817/the-effects-of-silent-visuomotor-cueing-on-word-retrieval-in-broca-s-aphasies-a-pilot-study
#19
Klaudia Grechuta, Belen Rubio Bellaster, Rosa Espin Munne, Teresa Usabiaga Bernal, Begona Molina Hervas, Rosa San Segundo, Paul F M J Verschure
About a quarter of stroke patients worldwide suffer serious language disorders such as aphasias. Most common symptoms of Broca's aphasia are word naming disorders which highly impact verbal communication and the quality of life of aphasic patients. In order to recover disturbances in word retrieval, several cueing methods (i.e. phonemic and semantic) have been established to improve lexical access establishing effective language rehabilitation techniques. Based on recent evidence from action-perception theories, which postulate that neural circuits for speech perception and articulation are tightly coupled, in the present work, we propose and investigate an alternative type of cueing using silent articulation-related visual stimuli...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813805/improving-robotic-stroke-rehabilitation-by-incorporating-neural-intent-detection-preliminary-results-from-a-clinical-trial
#20
Jennifer L Sullivan, Nikunj A Bhagat, Nuray Yozbatiran, Ruta Paranjape, Colin G Losey, Robert G Grossman, Jose L Contreras-Vidal, Gerard E Francisco, Marcia K O'Malley
This paper presents the preliminary findings of a multi-year clinical study evaluating the effectiveness of adding a brain-machine interface (BMI) to the MAHI-Exo II, a robotic upper limb exoskeleton, for elbow flexion/extension rehabilitation in chronic stroke survivors. The BMI was used to trigger robot motion when movement intention was detected from subjects' neural signals, thus requiring that subjects be mentally engaged during robotic therapy. The first six subjects to complete the program have shown improvements in both Fugl-Meyer Upper-Extremity scores as well as in kinematic movement quality measures that relate to movement planning, coordination, and control...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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