2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)最新文献_第10页

A Novel Exoskeleton System Based on Magnetorheological Fluid for Tremor Suppression of Wrist Joints 基于磁流变液的新型腕关节震颤抑制外骨骼系统

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779363

Andong Yi, A. Zahedi, Yansong Wang, U-Xuan Tan, Dingguo Zhang

{"title":"A Novel Exoskeleton System Based on Magnetorheological Fluid for Tremor Suppression of Wrist Joints","authors":"Andong Yi, A. Zahedi, Yansong Wang, U-Xuan Tan, Dingguo Zhang","doi":"10.1109/ICORR.2019.8779363","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779363","url":null,"abstract":"Pathological tremor is caused by a variety of neurological diseases. Although it is not life-threatening, it brings great inconvenience to patients. Traditional treatments including medication, rehabilitation programs and deep brain stimulation (DBS) have shown limited effectiveness along with risks and side effects. In order to overcome the limitations of these treatments, a new method, wearable exoskeleton technology, is introduced that aims to provide a new solution for tremor management. Based on this method, a wrist tremor suppression exoskeleton (WTSE) is developed in this research. A magnetorheological (MR) fluid damper is designed for controllable damping force and an embedded acquisition platform is used to acquire real-time tremor information. The total weight of the WTSE is 262.13 g and the maximum sustained damping force reaches 8 N. The prototype is wearable and the damping force is real-time adjustable. According to preliminary results, the signal acquisition system can obtain reliable data and the WTSE can reduce the amplitude of acceleration and angular velocity of simulated tremor by 60.39% and 55.07%, respectively.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124141205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Vibrotactile Feedback Improves Foot Placement Perception on Stairs for Lower-Limb Prosthesis Users 振动触觉反馈改善下肢假肢使用者在楼梯上的脚位置感知

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779518

N. Rokhmanova, E. Rombokas

引用次数: 14

Effects of Electromyographically-driven Neuromuscular Stimulatio Cycling System on the Lower-Limb of Stroke Survivors 肌电驱动神经肌肉刺激循环系统对中风幸存者下肢的影响

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779541

Cheuk-Yan Au, Prabhav Mehra, Kenry W. C. Leung, R. Tong

{"title":"Effects of Electromyographically-driven Neuromuscular Stimulatio Cycling System on the Lower-Limb of Stroke Survivors","authors":"Cheuk-Yan Au, Prabhav Mehra, Kenry W. C. Leung, R. Tong","doi":"10.1109/ICORR.2019.8779541","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779541","url":null,"abstract":"This paper describes the design of an Electromyographically(EMG)-driven Neuromuscular Electrical Stimulation (NMES) cycling system. It utilises real-time EMG from actively participating stroke survivors as feedback control to drive the cycling system for rehabilitation. The user controls the speed of the cycling system using muscle activities of the side affected recorded by EMG electrodes. Additionally, adaptable NMES stimulations; also EMG based, were provided in cyclic pattern to the respective muscle groups in order to improve muscle coordination. The targeted muscle groups used to control the system were the Hamstring (HS), Tibialis Anterior (TA), Quadriceps (QC), Gastrocnemius Lateralis (GL) of the leg on the affected side. Using the system, 20 30-minutes sessions were conducted with chronic stroke survivors (n=10) at frequency of 2–4 sessions per week. Clinical assessment scores, namely FMA_LE, BBS and 6MWT were calculated before the first session and after the completion of 20 sessions. All the assessment scores showed significant improvement after using the system; FMA_LE(P=0.0244), BBS(P=0.0156), 6MWT(P=0.0112), and SI (P=0.0258), showing that the EMG-driven NMES cycling system provides effective rehabilitation for stroke survivors in terms of muscle strength and balance.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115509564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Characterization of a Robotic Device for the Assessment of Hand Proprioceptive, Motor, and Sensorimotor Impairments 用于评估手部本体感觉、运动和感觉运动损伤的机器人装置的设计和表征

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779507

Monika Zbytniewska, Mike D. Rinderknecht, O. Lambercy, Marco Barnobi, Joke Raats, I. Lamers, P. Feys, J. Liepert, R. Gassert

{"title":"Design and Characterization of a Robotic Device for the Assessment of Hand Proprioceptive, Motor, and Sensorimotor Impairments","authors":"Monika Zbytniewska, Mike D. Rinderknecht, O. Lambercy, Marco Barnobi, Joke Raats, I. Lamers, P. Feys, J. Liepert, R. Gassert","doi":"10.1109/ICORR.2019.8779507","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779507","url":null,"abstract":"Hand function is often impaired after neurological injuries such as stroke. In order to design patient-specific rehabilitation, it is essential to quantitatively assess those deficits. Current clinical scores cannot provide the required level of detail, and most assessment devices have been developed for the proximal joints of the upper limb. This paper presents a new robotic platform for the assessment of proprioceptive, motor, and sensorimotor hand impairments. A detailed technical evaluation demonstrated the capabilities to render different haptic environments required for a comprehensive assessment battery, and showed that the device is suitable for human interaction due to its ergonomic design. A preliminary study on proprioceptive assessment using a gauge position matching task with one healthy, one stroke, and one multiple sclerosis subject showed that the robotic system is able to rapidly and sensitively quantify proprioceptive deficits, and has the potential to be integrated into the clinical settings.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132626411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Bimanual control of position and force in people with multiple sclerosis: preliminary results 多发性硬化症患者的双手位置和力量控制:初步结果

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779377

G. Ballardini, Valentina Ponassi, Elisa Galofaro, L. Pellegrino, C. Solaro, Margit Muller, M. Casadio

{"title":"Bimanual control of position and force in people with multiple sclerosis: preliminary results","authors":"G. Ballardini, Valentina Ponassi, Elisa Galofaro, L. Pellegrino, C. Solaro, Margit Muller, M. Casadio","doi":"10.1109/ICORR.2019.8779377","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779377","url":null,"abstract":"Proprioceptive deficits are frequent and disabling symptoms of neurological diseases such as Multiple Sclerosis (MS). These deficits are poorly understood partly because of the limited sensitivity and reproducibility of clinical measures. However, their assessment is crucial in planning and evaluating rehabilitative treatments. Therefore, we designed a device and a protocol for assessing proprioceptive deficits by evaluating the position and force control performance. We focused on bimanual tasks, as most daily life activities require the combined use of both hands while MS induces coordination problems and often affects the two arms differently. Specifically, without being able to see their arms, subjects had (1) to reach with their hands a target positions holding objects of equal or different weights; (2) to exert equal isometric forces with the two hands in upward direction against rigid constraints at the same or different heights. For a first proof of concept of the feasibility we enrolled seven MS subjects with different levels of upper limb impairment and seven sex and age matched controls. We found that the ability to exert symmetric forces with both arms was significantly altered in all MS subjects, while position control decreased only for higher level of impairment. These preliminary findings suggest that in people with MS the ability to exert bilaterally required levels of force might be affected earlier compared to the ability to control hand position.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132319147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Using Physiological Linkage for Patient State Assessment In a Competitive Rehabilitation Game 在竞争性康复游戏中使用生理联系进行患者状态评估

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779361

A. Darzi, D. Novak

{"title":"Using Physiological Linkage for Patient State Assessment In a Competitive Rehabilitation Game","authors":"A. Darzi, D. Novak","doi":"10.1109/ICORR.2019.8779361","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779361","url":null,"abstract":"Competitive rehabilitation games can enhance motivation and exercise intensity compared to solo exercise; however, since such games may be played by two people with different abilities, game difficulty must be dynamically adapted to suit both players. State-of-the-art adaptation algorithms are based on players’ performance (e.g., score), which may not be representative of the patient’s physical and psychological state. Instead, we propose a method that estimates players’ states in a competitive game based on the covariation of players’ physiological responses. The method was evaluated in 10 unimpaired pairs, who played a competitive game in 6 conditions while 5 physiological responses were measured: respiration, skin conductance, heart rate, and 2 facial electromyograms. Two physiological linkage methods were used to assess the similarity of the players’ physiological measurements: coherence of raw measurements and correlation of heart and respiration rates. These linkage features were compared to traditional individual physiological features in classification of players’ affects (enjoyment, valence, arousal, perceived difficulty) into ‘low’ and ‘high’ classes. Classifiers based on physiological linkage resulted in higher accuracies than those based on individual physiological features, and combining both feature types yielded the highest classification accuracies (75% to 91%). These classifiers will next be used to dynamically adapt game difficulty during rehabilitation.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116842276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Semi-Autonomous Tongue Control of an Assistive Robotic Arm for Individuals with Quadriplegia 四肢瘫痪患者辅助机械臂的半自主舌头控制

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779457

Max Hildebrand, Frederik Bonde, Rasmus Vedel Nonboe Kobborg, C. Andersen, Andreas Flem Norman, M. Thøgersen, S. Bengtson, S. Došen, L. Struijk

{"title":"Semi-Autonomous Tongue Control of an Assistive Robotic Arm for Individuals with Quadriplegia","authors":"Max Hildebrand, Frederik Bonde, Rasmus Vedel Nonboe Kobborg, C. Andersen, Andreas Flem Norman, M. Thøgersen, S. Bengtson, S. Došen, L. Struijk","doi":"10.1109/ICORR.2019.8779457","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779457","url":null,"abstract":"Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoF) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. This was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. Three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO2 joystick control. The results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. The addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116909821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Prototype Measuring Device for Assessing Interaction Forces between Human Limbs and Rehabilitation Robots - A Proof of Concept Study 评估人体肢体与康复机器人之间相互作用力的原型测量装置-概念验证研究

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779536

J. Bessler, L. Schaake, Roy Kelder, J. Buurke, Gerdienke B. Prange-Lasonder

引用次数: 9

Development of a Robotic Unloader Brace for Investigation of Conservative Treatment of Medial Knee Osteoarthritis 机器人卸载支架的研制用于研究膝关节内侧骨关节炎的保守治疗

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779367

Dylan S. Reinsdorf, Chris A. Richburg, J. Czerniecki, P. Aubin

{"title":"Development of a Robotic Unloader Brace for Investigation of Conservative Treatment of Medial Knee Osteoarthritis","authors":"Dylan S. Reinsdorf, Chris A. Richburg, J. Czerniecki, P. Aubin","doi":"10.1109/ICORR.2019.8779367","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779367","url":null,"abstract":"Knee osteoarthritis (KOA) is a painful and debilitating condition that is associated with mechanical loading of the knee joint. Numerous conservative treatment strategies have been developed to delay time to total joint replacement. Unloader braces are commonly prescribed for medial uni-compartmental KOA, however their evidence of efficacy is inconclusive and limited by user compliance. Typical commercial braces transfer load from the medial knee compartment to the lateral knee compartment by applying a continuous brace abduction moment (BAM). We propose that brace utilization and effectiveness could be improved with a robotic device that intelligently modulates BAM in real time over the course of a step, day, and year to better protect the knee joint, improve pain relief, and increase comfort. To this end, we developed a robotic unloader knee brace ABLE (active brace for laboratory exploration) to flexibly emulate and explore different active and passive brace behaviors that may be more efficacious than traditional braces. The system is capable of modulating BAM within each step per researcher defined unloading profiles. ABLE was realized as a lightweight orthosis driven by an off-board system containing a servo motor, drive, real-time controller, and host PC. Frequency response and intra-step trajectory tracking during level-ground walking were evaluated in a single healthy human subject test to verify system performance. The system tracked BAM vs percent gait cycle trajectories with a root mean square error of 0.18 to 0.58 Nm for conditions varying in walking speed, 85-115% nominal, and trajectory peak BAM, 2.7 to 8.1 Nm. Biomechanical and subjective outcomes will be evaluated next for KOA patients to investigate how novel robotic brace operation affects pain relief, comfort, and KOA progression.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122077056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Design and Analysis of Flexible Joints for a Robust 3D Printed Prosthetic Hand 鲁棒3D打印假手柔性关节的设计与分析

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779372

F. Alkhatib, E. Mahdi, J. Cabibihan

{"title":"Design and Analysis of Flexible Joints for a Robust 3D Printed Prosthetic Hand","authors":"F. Alkhatib, E. Mahdi, J. Cabibihan","doi":"10.1109/ICORR.2019.8779372","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779372","url":null,"abstract":"In war-affected regions in the world, limb loss is one of the leading injuries. The need for low-cost, low-maintenance prostheses arises. The rapid developments in 3D printing allows us to investigate robotic or prosthetic hand designs that can satisfy those basic requirements. 3D printed prosthetic hands are more affordable and lightweight alternatives for prostheses. In this paper, we investigate the flexibility of different designs of the soft joints of a low-cost 3D printed prosthetic hand with respect to the material type. We designed flexible joints from elastomeric materials instead of plastic joints. This modification can make the current 3D printed prosthesis designs more robust. As a drawback from these flexible joints, the prosthetic hand will not be in a full open palm position in its initial state, as compared to typical designs. We then converted this drawback to a beneficial feature by calculating the angles of the natural pose of the human hands and transfer those angles to the prosthetic hands with flexible joints. This work has implications in the design of 3D printed prosthetic hands that can be deployed for war-wounded refugees or for those in low-resource countries.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115308361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13