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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/28814054/crux-a-compliant-robotic-upper-extremity-exosuit-for-lightweight-portable-multi-joint-muscular-augmentation
#2
Steven Lessard, Pattawong Pansodtee, Ash Robbins, Leya Breanna Baltaxe-Admony, James M Trombadore, Mircea Teodorescu, Adrian Agogino, Sri Kurniawan
Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the user's movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the underlying complexity of the human body. In this paper, we present a compliant, robotic exosuit for upper extremities called CRUX. This exosuit, inspired by tensegrity models of the human arm, features a lightweight (1.3 kg), flexible multi-joint design for portable augmentation...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813981/a-magnetic-compatible-supernumerary-robotic-finger-for-functional-magnetic-resonance-imaging-fmri-acquisitions-device-description-and-preliminary-results
#3
Irfan Hussain, Emiliano Santarnecchi, Andrea Leo, Emiliano Ricciardi, Simone Rossi, Domenico Prattichizzo
The Supernumerary robotic limbs are a recently introduced class of wearable robots that, differently from traditional prostheses and exoskeletons, aim at adding extra effectors (i.e., arms, legs, or fingers) to the human user, rather than substituting or enhancing the natural ones. However, it is still undefined whether the use of supernumerary robotic limbs could specifically lead to neural modifications in brain dynamics. The illusion of owning the part of body has been already proven in many experimental observations, such as those relying on multisensory integration (e...
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
#4
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/28813966/exergaming-with-a-pediatric-exoskeleton-facilitating-rehabilitation-and-research-in-children-with-cerebral-palsy
#5
Thomas C Bulea, Zachary F Lerner, Andrew J Gravunder, Diane L Damiano
Effective rehabilitation of children with cerebral palsy (CP) requires intensive task-specific exercise but many in this population lack the motor capabilities to complete the desired training tasks. Providing robotic assistance is a potential solution yet the effects of this assistance are unclear. We combined a novel exoskeleton and exercise video game (exergame) to create a new rehabilitation paradigm for children with CP. We incorporated high density electroencephalography (EEG) to assess cortical activity...
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
#6
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/28813929/soft-brain-machine-interfaces-for-assistive-robotics-a-novel-control-approach
#7
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/28813921/effect-on-the-classification-of-motor-imagery-in-eeg-after-applying-anodal-tdcs-with-a-4%C3%A3-1-ring-montage-over-the-motor-cortex
#8
I N Angulo-Sherman, M Rodriguez-Ugarte, E Ianez, M Ortiz, J M Azorin
Transcranial direct stimulation (tDCS) is a technique for modulating brain excitability that has potential to be used in motor neurorehabilitation by enhancing motor activity, such as motor imagery (MI). tDCS effects depend on different factors, like current density and the position of the stimulating electrodes. This study presents preliminary results of the evaluation of the effect of current density on MI performance by measuring right-hand/feet MI accuracy of classification from electroencephalographic (EEG) measurements after anodal tDCS is applied with a 4×1 ring montage over the right-hand or feet motor cortex...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813917/intuitive-adaptive-orientation-control-of-assistive-robots-for-people-living-with-upper-limb-disabilities
#9
Dinh-Son Vu, Ulysse Cote Allard, Clement Gosselin, Francois Routhier, Benoit Gosselin, Alexandre Campeau-Lecours
Robotic assistive devices enhance the autonomy of individuals living with physical disabilities in their day-to-day life. Although the first priority for such devices is safety, they must also be intuitive and efficient from an engineering point of view in order to be adopted by a broad range of users. This is especially true for assistive robotic arms, as they are used for the complex control tasks of daily living. One challenge in the control of such assistive robots is the management of the end-effector orientation which is not always intuitive for the human operator, especially for neophytes...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813915/vibrofocus-design-of-a-focal-vibro-tactile-robotic-assistive-system-for-spasticity-rehabilitation
#10
Tijana Jevtic Vojinovic, Aleksandar Zivanovic, Tom Carlson, Rui C V Loureiro
The main focus of spasticity treatment is to alleviate pain, improve function and reduce risk of additional complications. In this paper the design of a robotic system with enhanced focal vibro-tactile stimulation for the treatment of spasticity in the upper limbs is presented. Building on emerging evidence on the use of vibrations in the treatment of spasticity, we propose a new integrated approach. Our design combines the use of vibro-tactile stimulation of the high tone muscle with robotic movement assistance to augment rehabilitation outcomes in patients with spasticity in the upper limbs...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813911/design-and-kinematic-analysis-of-a-novel-upper-limb-exoskeleton-for-rehabilitation-of-stroke-patients
#11
Amin Zeiaee, Rana Soltani-Zarrin, Reza Langari, Reza Tafreshi
This paper details the design process and features of a novel upper limb rehabilitation exoskeleton named CLEVER (Compact, Low-weight, Ergonomic, Virtual/Augmented Reality Enhanced Rehabilitation) ARM. The research effort is focused on designing a lightweight and ergonomic upper-limb rehabilitation exoskeleton capable of producing diverse and perceptually rich training scenarios. To this end, the knowledge available in the literature of rehabilitation robotics is used along with formal conceptual design techniques...
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
#12
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/28813894/validity-of-a-sensor-based-table-top-platform-to-measure-upper-limb-function
#13
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
#14
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/28813879/interaction-force-and-motion-estimators-facilitating-impedance-control-of-the-upper-limb-rehabilitation-robot
#15
Aitziber Mancisidor, Asier Zubizarreta, Itziar Cabanes, Pablo Bengoa, Je Hyung Jung
In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot...
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
#16
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/28813805/improving-robotic-stroke-rehabilitation-by-incorporating-neural-intent-detection-preliminary-results-from-a-clinical-trial
#17
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]
https://www.readbyqxmd.com/read/28813802/movement-therapy-without-moving-first-results-on-isometric-movement-training-for-post-stroke-rehabilitation-of-arm-function
#18
A Melendez-Calderon, E Rodrigues, K Thielbar, J L Patton
This study explores the use of isometric movement training for arm rehabilitation after stroke. The aim of this approach is to enhance movement skill even when the person training is not moving. This is accomplished by deceptively displaying virtual motions, exploiting known cross-modal sensory interactions between vision and proprioception. This approach can be advantageous in situations where actual movement is prohibitive due to weakness, spasticity, instability, or unsafe conditions. We present early insights on usability of and tolerance to this training approach and quantitative results that can power future clinical trials...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813801/therapeutic-effects-of-an-anti-gravity-locomotor-training-alterg-on-postural-balance-and-cerebellum-structure-in-children-with-cerebral-palsy
#19
A H Rasooli, P M Birgani, Sh Azizi, A Shahrokhi, M M Mirbagheri
We evaluated the therapeutic effects of anti-gravity locomotor treadmill (AlterG) training on postural stability in children with Cerebral Palsy (CP) and spasticity, particularly in the lower extremity. AlterG can facilitate walking by reducing the weight of CP children by up to 80%; it can also help subjects maintain an appropriate posture during the locomotor AlterG training. Thus, we hypothesized that AlterG training, for a sufficient period of time, has a potential to produce cerebellum neuroplasticity, and consequently result in an effective permanent postural stability...
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
#20
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]
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