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https://www.readbyqxmd.com/read/28814059/biomot-exoskeleton-towards-a-smart-wearable-robot-for-symbiotic-human-robot-interaction
#1
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/28814056/design-of-a-lightweight-tethered-torque-controlled-knee-exoskeleton
#2
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/28814055/twiice-a-lightweight-lower-limb-exoskeleton-for-complete-paraplegics
#3
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/28814045/across-user-adaptation-for-a-powered-lower-limb-prosthesis
#4
John A Spanias, Ann M Simon, Levi J Hargrove
Pattern recognition algorithms have been used to control powered lower limb prostheses because they are capable of identifying the intent of the amputee user and therefore can provide a method for seamlessly transitioning between the different locomotion modes of the prosthesis. However, one major limitation of current algorithms is that they require subject-specific data from the individual user. These data are difficult and time-consuming to collect and consequently these algorithms do not generalize well across users...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814042/portable-haptic-device-for-lower-limb-amputee-gait-feedback-assessing-static-and-dynamic-perceptibility
#5
M A B Husman, H F Maqbool, M I Awad, A A Dehghani-Sanij
Loss of joints and severed sensory pathway cause reduced mobility capabilities in lower limb amputees. Although prosthetic devices attempt to restore normal mobility functions, lack of awareness and control of limb placement increase the risk of falling and causing amputee to have high level of visual dependency. Haptic feedback can serve as a cue for gait events during ambulation thus providing sense of awareness of the limb position. This paper presents a wireless wearable skin stretch haptic device to be fitted around the thigh region...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814038/design-and-preliminary-assessment-of-vanderbilt-hand-exoskeleton
#6
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/28814026/design-and-characterization-of-low-cost-fabric-based-flat-pneumatic-actuators-for-soft-assistive-glove-application
#7
Hong Kai Yap, Frederick Sebastian, Christopher Wiedeman, Chen-Hua Yeow
We present the design of low-cost fabric-based Hat pneumatic actuators for soft assistive glove application. The soft assistive glove is designed to assist hand impaired patients in performing activities of daily living and rehabilitation. The actuators consist of flexible materials such as fabric and latex bladder. Using zero volume actuation concept, the 2D configuration of the actuators simplifies the manufacturing process and allows the actuators to be more compact. The actuators achieve bi-directional flexion and extension motions...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814017/assessment-of-lower-arm-movements-using-one-inertial-sensor
#8
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/28814014/bio-inspired-control-of-joint-torque-and-knee-stiffness-in-a-robotic-lower-limb-exoskeleton-using-a-central-pattern-generator
#9
Stefan O Sobrade, Yannik Nager, Amy R Wu, Roger Gassert, Auke Ijspeert
Robotic lower limb exoskeletons are becoming increasingly popular in therapy and recreational use. However, most exoskeletons are still rather limited in their locomotion speed and the activities of daily live they can perform. Furthermore, they typically do not allow for a dynamic adaptation to the environment, as they are often controlled with predefined reference trajectories. Inspired by human leg stiffness modulation during walking, variable stiffness actuators increase flexibility without the need for more complex controllers...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814001/design-of-an-energy-efficient-transfemoral-prosthesis-using-lockable-parallel-springs-and-electrical-energy-transfer
#10
Francois Heremans, Renaud Ronsse
Over the last decade, active lower-limb prostheses demonstrated their ability to restore a normal gait for transfemoral amputees by supplying the required positive energy balance [1]. However, the added-value of such devices is significantly impacted by their limited energetic autonomy preventing their full appropriation by the patients. There is thus a strong incentive to reduce the overall power consumption of active prostheses. Addressing this need requires to revisit the electromechanical design. For both the ankle and the knee, the present paper demonstrates that both the use of a lockable parallel spring and the transfer of electrical energy between joints can significantly improve the energetic performance for overground walking...
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
#11
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/28813998/joint-stiffness-modulation-of-compliant-actuators-for-lower-limb-exoskeletons
#12
Jose Gonzalez-Vargas, Shingo Shimoda, Guillermo Asin-Prieto, Jose L Pons, Juan C Moreno
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve the synchronisation between the exoskeleton and the user during locomotion. We show that this implementation can be effectively used to easily modulate the joint stiffness that is perceived by the user during locomotion...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813989/quantification-of-information-transfer-rate-of-the-human-hand-during-a-mouse-clicking-task-with-healthy-adults-and-one-adult-with-duchenne-muscular-dystrophy
#13
Kostas Nizamis, Wouter Schutte, Jasper Goseling, Bart F J M Koopman
Duchenne muscular Dystrophy (DMD) Is a progressive muscle degenerative disease. Active hand assistive devices, can improve the quality of life of people with DMD. Such devices show a rejection rate due to complexity. Our hypothesis is, that a simple orthosis might prove more functional and realistic in assisting people with DMD. To investigate, we developed a portable setup that provides various visual stimuli and records the response of the subjects' fingers through a mouse clicking task. Six LEDs served as visual stimuli...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813979/towards-low-back-support-with-a-passive-biomimetic-exo-spine
#14
Matthias B Naf, Laura De Rijcke, Carlos Rodriguez Guerrero, Matthew Millard, Bram Vanderborght, Dirk Lefeber
Low-Back Pain (LBP) affects a large portion of the working population. Preventive exoskeletons have been proposed to reduce the moments on the lower back, specifically around the lumbosacral (L5/S1) joint. High correlation has been shown, between reducing the moments around the L5/S1 joint and intervertebral compression forces, which in turn have been identified as a risk factor for developing LBP. However, most passive back support exoskeletons use rigid plates or stiff beams to support the spine that limit the range of motion of the wearer...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813977/repeatability-of-grasp-recognition-for-robotic-hand-prosthesis-control-based-on-semg-data
#15
Francesca Palermo, Matteo Cognolato, Arjan Gijsberts, Henning Muller, Barbara Caputo, Manfredo Atzori
Control methods based on sEMG obtained promising results for hand prosthetics. Control system robustness is still often inadequate and does not allow the amputees to perform a large number of movements useful for everyday life. Only few studies analyzed the repeatability of sEMG classification of hand grasps. The main goals of this paper are to explore repeatability in sEMG data and to release a repeatability database with the recorded experiments. The data are recorded from 10 intact subjects repeating 7 grasps 12 times, twice a day for 5 days...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813967/integration-of-serious-games-and-wearable-haptic-interfaces-for-neuro-rehabilitation-of-children-with-movement-disorders-a-feasibility-study
#16
Ilaria Bortone, Daniele Leonardis, Massimiliano Solazzi, Caterina Procopio, Alessandra Crecchi, Luca Bonfiglio, Antonio Frisoli
The past decade has seen the emergence of rehabilitation treatments using virtual reality environments. One of the advantages in using this technology is the potential to create positive motivation, by means of engaging environments and tasks shaped in the form of serious games. In this work, we propose a novel Neuro Rehabilitation System for children with movement disorders, that is based on serious games in immersive virtual reality with haptic feedback. The system design aims to enhance involvement and engagement of patients, to provide congruent multi-sensory afferent feedback during motor exercises, and to benefit from the flexibility of virtual reality in adapting exercises to the patient's needs...
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
#17
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/28813942/robotic-assessment-of-the-contribution-of-motor-commands-to-wrist-position-sense
#18
Sara Contu, Francesca Marini, Lorenzo Masia
Assessing joint position sense for rehabilitation after neurological injury provides a prognostic factor in recovery and long-term functional outcomes. A common method for testing joint position sense involves the active replication of a joint configuration presented via a passive movement. However, recent evidence showed how this sense is mediated by the centrally generated signals of motor command, such that movements produced volitionally may be coded differently from passive movements and accuracy may be different when matching targets presented actively...
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
#19
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/28813918/how-to-prepare-a-person-with-complete-spinal-cord-injury-to-use-surface-electrodes-for-fes-trike-cycling
#20
Raymond K Y Tong, Xiaojun Wang, Kenry W C Leung, Ginny T Y Lee, Cathy C Y Lau, H W Wai, Peter M K Pang, H C Leung
Functional Electrical Stimulation (FES) cycling could benefit people with Spinal Cord Injury (SCI). The FES cycling involves large muscle groups during the training, and thus improves the cardiovascular function, increases the muscle bulk and reduces the secondary complications. This study developed an outdoor FES exercise cycling system for complete SCI persons to exercise their lower limbs without putting extra load on upper extremities. The mechanical structure of the cycling system was specially redesigned to secure the SCI persons in the cycling system...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
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