2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)最新文献_第6页

Admittance Control of the Ankle Mechanism in a Rotational Orthosis for Walking with Arm Swing 旋臂行走矫形器踝关节机构导纳控制

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779408

Zaile Mu, Juan Fang, Qiuju Zhang

引用次数: 1

Wearable Lymphedema Massaging Modules: Proof of Concept using Origami-inspired Soft Fabric Pneumatic Actuators 可穿戴淋巴水肿按摩模块:使用折纸启发的软织物气动执行器的概念证明

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779525

Hye Ju Yoo, Woongbae Kim, Sang-Yoep Lee, Joonmyeong Choi, Youn Joo Kim, D. Koo, Y. Nam, Kyu-Jin Cho

{"title":"Wearable Lymphedema Massaging Modules: Proof of Concept using Origami-inspired Soft Fabric Pneumatic Actuators","authors":"Hye Ju Yoo, Woongbae Kim, Sang-Yoep Lee, Joonmyeong Choi, Youn Joo Kim, D. Koo, Y. Nam, Kyu-Jin Cho","doi":"10.1109/ICORR.2019.8779525","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779525","url":null,"abstract":"Lymphedema is a non-curative chronic swelling caused by impairment of the lymphatic system, affecting up to 250 million patients worldwide. The patients suffer from low quality of life because of discomfort and reduced range of motion due to the swelling. Severe swellings can be immediately mediated with special massaging technique known as the Manual Lymphatic Drainage (MLD). Limitations of MLD involves long travel distances, the cost of regular treatment sessions, and the lack of lymphedema specialists. Since MLD is performed very gently, described as caressing a baby’s head, soft wearable robotics with its inherent compliance and safety is the perfect solution to creating a light and safe wearable lymphedema massaging device. In this paper, origami-inspired soft fabric pneumatic actuator is developed that creates not only normal force, but also shear force which is essential in the performance of MLD. The shear is created by the unfolding of the Z-shaped fold-lines as the actuator is inflated. One Z-folded actuator module of 30 x 60 mm dimension with a single fold of 15 mm fold height creates maximum shear force of about 1.5 N and stroke displacement of about 30 mm when subjected to compression loading of 5 N. The range of forces exerted can be tuned by varying the tension of the compressive clothing covering the actuators, and the stroke displacement can be varied by changing the parameter of the actuator module itself, such as the fold height and the number of the folds. The modules can also be repeatedly actuated under compressive clothing, and therefore, the developed actuator modules have high potential as a wearable massaging device.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"16 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":"126069181","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

Pedbothome: Robotically-Assisted Ankle Rehabilitation System For Children With Cerebral Palsy* pedbohome:脑瘫儿童机器人辅助踝关节康复系统*

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779468

K. Cleary, R. Monfaredi, Tyler Salvador, H. F. Talari, Catherine Coley, Staci Kovelman, Justine Belschner, S. Alyamani, M. Schladen, Sally Evans

引用次数: 4

Optimal Time-Window Derivation for Human-Activity Recognition Based on Convolutional Neural Networks of Repeated Rehabilitation Motions 基于重复康复运动卷积神经网络的人体活动识别最佳时间窗推导

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779475

Kyoung-Soub Lee, Sanghoon Chae, Hyung‐Soon Park

引用次数: 15

A Platform for Rehabilitation of Finger Individuation in Children with Hemiplegic Cerebral Palsy 偏瘫性脑瘫儿童手指个体化康复平台

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779537

James V. McCall, Miranda C. Ludovice, Jared A. Blaylock, D. Kamper

{"title":"A Platform for Rehabilitation of Finger Individuation in Children with Hemiplegic Cerebral Palsy","authors":"James V. McCall, Miranda C. Ludovice, Jared A. Blaylock, D. Kamper","doi":"10.1109/ICORR.2019.8779537","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779537","url":null,"abstract":"The brain injury that results in cerebral palsy CP may adversely affect fine motor control of the hand. The degradation of manual dexterity in the fingers profoundly impacts overall functionality of the upper limb, yet research efforts to facilitate rehabilitation of finger individuation in children with CP have been limited. This study describes the development of an integrated hardware and software platform for training and evaluating finger individuation. A pneumatically actuated glove provides extension assistance or flexion resistance independently to each digit in concert with playing a virtual reality keyboard. This setup enables intensive and efficient practice of fine motor control of either or both hands. Bimanual training options range from mirror movements to fully independent motions and rhythms in each hand, thereby enabling maintenance of the proper level of challenge. Additionally, an instrument was created to provide assessment of individuated fingertip force generation in order to evaluate effectiveness of the training. Preliminary data were obtained from children both with and without CP using this tool.","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":"129210491","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

Autonomous Multi-Sensory Robotic Assistant for a Drinking Task 自主多感官饮酒机器人助手

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779521

F. Goldau, Tejas Kumar Shastha, Maria Kyrarini, A. Gräser

{"title":"Autonomous Multi-Sensory Robotic Assistant for a Drinking Task","authors":"F. Goldau, Tejas Kumar Shastha, Maria Kyrarini, A. Gräser","doi":"10.1109/ICORR.2019.8779521","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779521","url":null,"abstract":"Assistive robots have the potential to support people with disabilities in their Activities of Daily Life. The drinking task has a high priority and requires constant assistance by caregivers to be executed regularly. Due to incapacitating disabilities such as tetraplegia, which is the paralysis of all limbs, affected people cannot use classic control interfaces such as joysticks. This paper presents a robotic solution to enable independent, straw-less drinking using a smart cup and no physically attached elements on the user. The system's hardware and software components are presented and the overarching control scheme described. The cup approaches the mouth utilising a user-friendly and vision-based robot control based on head pose estimation. Once contact has been established, the user can drink by tilting the cup with a force sensor-based control setup. Two experimental studies have been conducted, where the participants (mostly able-bodied and one tetraplegic), could separately experience the cup’s contactless approach and the contact-based sequence. First results show a high user acceptance rate and consistent positive feedback. The evaluation of internal data showed a high reliability of the safety-critical components with the test groups perceiving the system as intuitive and easy to use.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"23 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":"133077285","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: 22

PEXO - A Pediatric Whole Hand Exoskeleton for Grasping Assistance in Task-Oriented Training 儿童全手外骨骼，用于任务导向训练中的抓取辅助

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779489

Tobias L. Bützer, Jan Dittli, Jan Lieber, Hubertus J. A. van Hedel, A. Meyer-Heim, O. Lambercy, R. Gassert

{"title":"PEXO - A Pediatric Whole Hand Exoskeleton for Grasping Assistance in Task-Oriented Training","authors":"Tobias L. Bützer, Jan Dittli, Jan Lieber, Hubertus J. A. van Hedel, A. Meyer-Heim, O. Lambercy, R. Gassert","doi":"10.1109/ICORR.2019.8779489","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779489","url":null,"abstract":"Children with hand motor impairment due to cerebral palsy, traumatic brain injury, or pediatric stroke are considerably affected in their independence, development, and quality of life. Treatment conventionally includes task-oriented training in occupational therapy. While dose and intensity of hand therapy can be promoted through technology, these approaches are mostly limited to large stationary robotic devices for non-task-oriented training, or passive wearable devices for children with mild impairments. Here we present PEXO, a fully wearable actuated pediatric hand exoskeleton to cover the special needs of children (6 to 12 years of age) with strong impairments in hand function. Through three degrees of freedom, PEXO provides assistance in various grasp types needed for the execution of functional tasks. It is lightweight, water proof, and inherently interacts safely with the user. It meets mechanical requirements such as force, fast closing movement, and battery lifetime derived from literature and discussions with clinicians. Appealing appearance, user-friendly design, and intuitive control with visual feedback of forearm muscle activity should keep the user motivated during training in the clinic or at home. A pilot test with a 6-years old child with stroke showed that PEXO can provide assistance in grasping various objects weighing up to 0.5 kg. These are promising first results on the way to make hand exoskeletons accessible for children with neuromotor disorders.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"105 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":"121241168","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: 24

Investigation of Fatigue Using Different EMG Features 不同肌电特征对疲劳的研究

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779402

Azadeh Aghamohammadi-Sereshki, Mohammad Javad Darvishi Bayazi, F. T. Ghomsheh, F. Amirabdollahian

{"title":"Investigation of Fatigue Using Different EMG Features","authors":"Azadeh Aghamohammadi-Sereshki, Mohammad Javad Darvishi Bayazi, F. T. Ghomsheh, F. Amirabdollahian","doi":"10.1109/ICORR.2019.8779402","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779402","url":null,"abstract":"Rehabilitative exercise for people suffering from upper limb impairments has the potential to improve their neuro-plasticity due to repetitive training. Our study investigates the usefulness of Electroencephalogram and Electromyogram (EMG) signals for incorporation in humanrobot interaction loop. Twenty healthy participants recruited who performed a series of physical and cognitive tasks, with an inherent fatiguing component in those tasks. Here we report observed effects on EMG signals. Participants performed a Biceps curl repetitions using a suitable dumbbell in three phases. In phase 1, the initial weight was set to achieve maximum voluntary contraction (MVC). Phase 2 followed with 80 % MVC and phase 3 had 60% MVC. After each phase, they had a break around 3 minutes. EMG data were acquired from Biceps, Triceps, and Brachioradialis muscles. Different EMG features were explored to inform on muscle fatigue during this interaction. Comparing EMG during the first and last dumbbell of each phase demonstrated that the muscle fatigue had caused an increase in the average power (94% of cases) and amplitude (91%) and a decrease in the mean (80%) and the median frequency (57%) of EMG, which was more noticeable in Biceps. The results from integrated EMG showed a continuous rise in all three muscles which was more pronounced in Biceps muscle. Given these results, we identify EMG average power as the most reliable feature for informing on muscle fatigue.","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":"129012425","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

Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors 通过机载传感器表征外骨骼辅助行走的意图变化

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779503

Taylor M. Gambon, J. Schmiedeler, Patrick M. Wensing

{"title":"Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors","authors":"Taylor M. Gambon, J. Schmiedeler, Patrick M. Wensing","doi":"10.1109/ICORR.2019.8779503","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779503","url":null,"abstract":"Robotic exoskeletons are a promising technology for rehabilitation and locomotion following musculoskeletal injury, but their adoption outside the physical therapy clinic has been limited by relatively primitive methods for identifying and incorporating the user’s gait intentions. Various intent detection approaches have been demonstrated using electromyography and electroencephalography signals. These technologies sense the human directly but introduce complications for donning/doffing the device and in measurement consistency. By contrast, sensors onboard the exoskeleton avoid these complications but sense the human indirectly via the human-robot interface. This pilot study examines if onboard sensors alone may enable identification of user intent. Joint positions and commanded motor currents are compared prior to and after changes in the user’s intended gait speed. Preliminary experimental results confirm that these measures are significantly different following intent changes for both able-bodied and non-able-bodied users. The findings suggest that intent detection is possible with onboard sensors alone, but the intent signals depend on exoskeleton control settings, user ability, and temporal considerations.","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":"129231529","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

Enhancing the Therapist–Device Relationship: Software Requirements for Digital Collection and Analysis of Patient Data 加强治疗师-设备关系:患者数据数字化收集和分析的软件需求

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) Pub Date : 2019-06-01 DOI: 10.1109/ICORR.2019.8779528

T. Desplenter, S. Chinchalkar, A. L. Trejos

{"title":"Enhancing the Therapist–Device Relationship: Software Requirements for Digital Collection and Analysis of Patient Data","authors":"T. Desplenter, S. Chinchalkar, A. L. Trejos","doi":"10.1109/ICORR.2019.8779528","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779528","url":null,"abstract":"Improving upon the therapist–device relationship is an important aspect that will increase the number of upper-limb robotic rehabilitation devices being used for therapy. One path to strengthen this relationship is for these devices to generate large data sets that rehabilitation therapists can use to enhance their patient assessment procedures. In this article, a national survey of Canadian therapists was conducted in order to learn about their data collection and analysis methods. A total of 33 responses were gathered from an online survey. These results show that there is a demand for the collection and visualization of various patient data, some of which cannot be easily collected with existing methods. It was also seen that there exists a large variation between therapists about which major steps constitute the general rehabilitation process. From these results, a set of fourteen general software requirements has been created. Insights from the survey regarding influences on software designs are briefly discussed. This research helps to enable the development of software systems that increase the interaction potential between therapists and robotic devices.","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":"115674575","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