2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)最新文献_第4页

A high-resolution tongue-based joystick to enable robot control for individuals with severe disabilities 一个高分辨率的基于舌头的操纵杆，使机器人控制严重残疾的个人

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779434

M. Mohammadi, H. Knoche, M. Gaihede, B. Bentsen, L. Struijk

{"title":"A high-resolution tongue-based joystick to enable robot control for individuals with severe disabilities","authors":"M. Mohammadi, H. Knoche, M. Gaihede, B. Bentsen, L. Struijk","doi":"10.1109/ICORR.2019.8779434","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779434","url":null,"abstract":"Assistive robotic arms have shown the potential to improve the quality of life of people with severe disabilities. However, a high performance and intuitive control interface for robots with 6-7 DOFs is still missing for these individuals. An inductive tongue computer interface (ITCI) was recently tested for control of robots and the study illustrated potential in this field. The paper describes the investigation of the possibility of developing a high performance tongue-based joystick-like controller for robots through two studies. The first compared different methods for mapping the 18 sensor signals to a 2D coordinate, as a touchpad. The second evaluated the performance of a novel approach for emulating an analog joystick by the ITCI based on the ISO9241-411 standard. Two subjects performed a multi-directional tapping test using a standard analog joystick, the ITCI system held in hand and operated by the other hand, and finally by tongue when mounted inside the mouth. Throughput was measured as the evaluation parameter. The results show that the contact on the touchpads can be localized by almost 1 mm accuracy. The effective throughput of ITCI system for the multi-directional tapping test was 2.03 bps while keeping it in the hand and 1.31 bps when using it inside the mouth.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"17 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":"126560332","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: 12

Performance Evaluation of EEG/EMG Fusion Methods for Motion Classification 脑电/肌电融合运动分类方法的性能评价

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779465

Jacob Tryon, Evan Friedman, A. L. Trejos

{"title":"Performance Evaluation of EEG/EMG Fusion Methods for Motion Classification","authors":"Jacob Tryon, Evan Friedman, A. L. Trejos","doi":"10.1109/ICORR.2019.8779465","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779465","url":null,"abstract":"Wearable robotic systems have shown potential to improve the lives of musculoskeletal disorder patients; however, to be used practically, they require a reliable method of control. The user needs to be able to indicate that they wish to move in a way that feels intuitive and comfortable. One proposed method for detecting motion intention is through the combined use of muscle activity, known as electromyography (EMG), and brain activity, known as electroencephalography (EEG). Other groups have developed various methods of fusing EEG/EMG signals for classification of motion intention, but a comprehensive evaluation of their performance has yet to be completed. This work evaluates EEG/EMG fusion methods during elbow flexion–extension motion while varying parameters, such as speed of motion, weight held, and muscle fatigue. Overall, the use of EEG/EMG fusion was found to not be more accurate than using just EMG alone $(86.81 pm 3.98$%), with some fusion methods demonstrating equivalent performance to EMG $(p=1.000)$. EEG/EMG fusion was, however, demonstrated to be less sensitive to changes in motion parameters, allowing it to perform more consistently across different speed/weight combinations. The results of this work provide further justification for the use of EEG/EMG fusion for control of a wearable robotic device.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"2 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":"114162065","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: 18

Energy Density and Hysteresis Comparison in Natural Rubber Tube Springs for Wearable Exoskeleton Applications 可穿戴外骨骼用天然橡胶管弹簧的能量密度和迟滞比较

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779400

J. Perry, Abhishek Rathod

{"title":"Energy Density and Hysteresis Comparison in Natural Rubber Tube Springs for Wearable Exoskeleton Applications","authors":"J. Perry, Abhishek Rathod","doi":"10.1109/ICORR.2019.8779400","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779400","url":null,"abstract":"Wearable exoskeletons show promise as a means for compensating lost function as well as for providing optimal assistance for maximal therapeutic benefit during everyday tasks. Development of lightweight spring systems for efficient storage and return are proposed as a key component in the successful deployment of wearable exoskeletons for individuals with neurological deficits. Both spring steel and natural rubber are common materials used in energy storage, but have not been directly compared by metrics such as energy storage density, energy storage efficiency, and hysteresis. In this work, we perform cyclic loading tests on spring steel extension springs of varying wire diameter and natural rubber tubing of varying wall thicknesses. We then use measured load-extension profiles to illustrate and compute metrics to better quantify the energy storing capabilities of each material and their appropriateness for use as energy storing and returning components in wearable robotic applications. Results show that natural rubber has a higher capacity for energy storage per unit weight in comparison to steel springs. Hysteresis is also higher in natural rubber and can be dramatically reduced by applying adequate pre-strain at levels greater than the anticipated strain during use.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"113 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":"121163235","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

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779552

F. Marini, J. Zenzeri, Valentina Pippo, P. Morasso, C. Campus

{"title":"Movement related activity in the μ band of the human EEG during a robot-based proprioceptive task","authors":"F. Marini, J. Zenzeri, Valentina Pippo, P. Morasso, C. Campus","doi":"10.1109/ICORR.2019.8779552","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779552","url":null,"abstract":"Innovative research in the fields of prosthetic, neurorehabilitation, motor control and human physiology has been focusing on the study of proprioception, the sense through which we perceive the position and movement of our body, and great achievements have been obtained regarding its assessment and characterization. However, how proprioceptive signals are combined with other sensory modalities and processed by the central nervous system to form a conscious body image, is still unknown. Such a crucial question was addressed in this study, which involved 23 healthy subjects, by combining a robot-based proprioceptive test with a specific analysis of electroencephalographic activity (EEG) in the $mu$ frequency band (8-12 Hz). We observed important activation in the motor area contralateral to the moving hand, and besides, a substantial bias in brain activation and proprioceptive acuity when visual feedback was provided in addition to the proprioceptive information during movement execution. In details, brain activation and proprioceptive acuity were both higher in case of movements performed with visual feedback. Remarkably, we also found a correlation between the level of activation in the brain motor area contralateral to the moving hand and the value of proprioceptive acuity.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"97 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":"121696004","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

Indirect Robotic Movement Shaping through Motor Cost Influence 通过电机成本影响的间接机器人运动成形

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779430

Justin Fong, V. Crocher, Y. Tan, D. Oetomo

引用次数: 3

Effects of Focal Vibration and Robotic Assistive Therapy on Upper Limb Spasticity in incomplete Spinal Cord Injury 局部振动和机器人辅助治疗对不完全性脊髓损伤上肢痉挛的影响

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779566

Tijana Jevtic Vojinovic, Emma Linley, A. Zivanovic, R. Loureiro

{"title":"Effects of Focal Vibration and Robotic Assistive Therapy on Upper Limb Spasticity in incomplete Spinal Cord Injury","authors":"Tijana Jevtic Vojinovic, Emma Linley, A. Zivanovic, R. Loureiro","doi":"10.1109/ICORR.2019.8779566","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779566","url":null,"abstract":"Vibration stimulation seems to be an affordable easy-to-use rehabilitation tool. Focal muscle vibration (FV) has potential to reduce spasticity and enhance muscle strength and performance. Combined with robotic assisted movement therapy, the rehabilitation can benefit from improvement of more than one aspect. For example, FV could firstly decrease abnormally increased muscle tone and joint rigidity by tackling volitional control for easier robotic movement exercise. Exactly this approach is evaluated within a clinical trial presented in this paper. FV were applied to relaxed spastic wrist flexor and extensor muscles for 15min. Subsequently, the wrist was engaged in a robotic-assisted game-playing. Results from two cases who completed the trial showed short-term decrease in wrist stiffness as assessed by clinical spasticity measurement Modified Ashworth Scale (MAS). Active range of motion (AROM) and engineering joint stiffness (JS) measurements were estimated using a robotic apparatus and the results complemented previous observations. The AROM increased and JS decreased for both cases when compared at the beginning and at the end of each interventional session. These results are a part of an ongoing clinical trial but show promise for reducing repercussions of spasticity in incomplete spinal cord injury.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"85 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":"121739882","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: 4

Reaching in Several Realities: Motor and Cognitive Benefits of Different Visualization Technologies 到达几个现实:不同的可视化技术的运动和认知的好处

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779366

Nicolas Wenk, Joaquin Penalver-Andres, Rara Palma, Karin A. Buetler, R. Müri, T. Nef, L. Marchal-Crespo

{"title":"Reaching in Several Realities: Motor and Cognitive Benefits of Different Visualization Technologies","authors":"Nicolas Wenk, Joaquin Penalver-Andres, Rara Palma, Karin A. Buetler, R. Müri, T. Nef, L. Marchal-Crespo","doi":"10.1109/ICORR.2019.8779366","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779366","url":null,"abstract":"There is increasing interest in using virtual reality (VR) in robotic neurorehabilitation. However, the use of conventional VR displays (i.e., computer screens), implies several transformations between the real movements in 3D and their 2D virtual representations that might negatively impact the rehabilitation interventions. In this study, we compared the impact on movement quality and cognitive load of novel vs. standard visualization technologies: i) Immersive VR (IVR) head-mounted display (HMD), ii) Augmented reality (AR) HMD, and iii) Computer screen. Twenty healthy participants performed simultaneously a motor and a cognitive task. Goal-oriented reaching movements were recorded using an HTC Vive controller. The cognitive load was assessed by the accuracy on a simultaneous counting task.The movement quality improved when visualizing the movements in IVR, compared to the computer screen. These improvements were more evident for locations that required movements in several dimensions. We found a trend to higher movement quality in AR than Screen, but worse than IVR. No significant difference was observed between modalities for the cognitive load. These results provide encouraging evidence that VR interventions using HMDs might be more suited for reaching tasks in several dimensions than a computer screen. Technical limitations might still limit the beneficial effects of AR, both in movement quality and cognitive load.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"5 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":"123746019","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

A geometric framework for the estimation of joint stiffness of the human wrist* 用于估计人类手腕关节刚度的几何框架*

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779380

D. Formica, Muhammad Azhar, Paolo Tommasino, D. Campolo

{"title":"A geometric framework for the estimation of joint stiffness of the human wrist*","authors":"D. Formica, Muhammad Azhar, Paolo Tommasino, D. Campolo","doi":"10.1109/ICORR.2019.8779380","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779380","url":null,"abstract":"Estimating joint stiffness is of paramount importance for studying human motor control and for clinical assessment of neurological diseases. Usually stiffness estimation is performed using cumbersome instrumentations (e.g. robots), and by approximating robot joint angles and torques to the human ones. This paper proposes a methodology and an experimental setup to measure wrist joint stiffness in unstructured environments, with the twofold aim of: 1) providing a geometric framework in order to derive angular displacements and torques at the wrist Flexion/Extension (FE) and Radial/Ulnar Deviation (RUD) axes of rotation, using a subject specific kinematic model; 2) suggesting an experimental setup made of two portable sensors for motion tracking and one load cell, to allow for measurements in out-of-the-lab scenarios. We tested our method on a hardware mockup of wrist kinematics, providing a ground truth for estimated angles and torques at FE and RUD joints. The experimental validation showed average absolute errors in FE and RUD angles of 0.005 rad and 0.0167 rad respectively, and an average error of FE and RUD torques of 0.006 Nm and 0.003 Nm.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"77 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":"122525868","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: 4

Ailu: An Affordable Sensorized Toy for Detection of Neuro and Motor Delays in Infants Ailu:一个可负担得起的传感器玩具，用于检测婴儿的神经和运动迟缓

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779523

E. Ho, Wilson O. Torres, Laura Prosser, M. Johnson

引用次数: 5

A computational pipeline to find lobule-specific electric field distribution during non-invasive cerebellar stimulation 在非侵入性小脑刺激过程中寻找小叶特异性电场分布的计算管道

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779453

Z. Rezaee, Brandon Ruszala, Anirban Dutta

{"title":"A computational pipeline to find lobule-specific electric field distribution during non-invasive cerebellar stimulation","authors":"Z. Rezaee, Brandon Ruszala, Anirban Dutta","doi":"10.1109/ICORR.2019.8779453","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779453","url":null,"abstract":"Objective: Cerebellar Transcranial direct current stimulation (ctDCS) of cerebellar lobules is challenging due to the complexity of the cerebellar structure. Therefore, we present a freely available computational pipeline to determine the subject-specific lobule-specific electric field distribution during ctDCS. Methods: The computational pipeline isolates subject-specific cerebellar lobules based on a spatially unbiased atlas template (SUIT) for the cerebellum, and then calculates the lobule-specific electric field distribution during ctDCS. The computational pipeline was tested using Colin27 Average Brain. The 5 cm × 5 cm anode was placed 3 cm lateral to inion, and the same sized cathode was placed on the contralateral supra-orbital area (called Manto montage) and buccinators muscle (called Celnik montage). A published 4x1 HD-ctDCS electrode montage was also implemented for a comparison using analysis of variance. Results: The electric field strength of both the Celnik and the Manto montages affected the lobules Crus II, VIIb, VIII, and IX of the targeted cerebellar hemispheres while Manto montage had a more bilateral effect. The HD-ctDCS montage primarily affected the lobules Crus I, Crus II, VIIb of the targeted cerebellar hemisphere. Discussion: Our freely available subject-specific computational modeling pipeline can be used to analyze lobulespecific electric field distribution to select an optimal ctDCS electrode montage.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"82 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":"127753261","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: 10