9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.最新文献_第10页

MR compatible ERF driven hand rehabilitation device 磁共振兼容ERF驱动的手部康复装置

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501039

A. Khanicheh, Andrew Muto, Christina Triantafyllou, B. Weinberg, L. Astrakas, A. Tzika, C. Mavroidis

{"title":"MR compatible ERF driven hand rehabilitation device","authors":"A. Khanicheh, Andrew Muto, Christina Triantafyllou, B. Weinberg, L. Astrakas, A. Tzika, C. Mavroidis","doi":"10.1109/ICORR.2005.1501039","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501039","url":null,"abstract":"This paper presents the design, fabrication and preliminary tests of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that will be used in fMRI studies of the brain and motor performance during rehabilitation after stroke. The device consists of four major subsystems: a) the electro-rheological fluid (ERF) resistive element; b) the gearbox; c) the handles and d) the sensors: one optical encoder and one force sensor attached to the ERF resistive element's shaft to measure the patient induced motion and force, respectively. A key feature of the device is the use of electro theological fluids (ERF) to achieve resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. Using the electrically controlled rheological properties of ERFs, compact resistive elements with an ability to supply high resistive torques in a controllable and tunable fashion, have been developed. Our preliminary tests demonstrate that the device can apply, on a human hand holding the device handles, resistive forces that exceed 150 N. In addition the activated ERF maintain its properties in the magnetic environment without creating degradation of the MR images. The results are encouraging in combining functional magnetic resonance imaging methods, with MR compatible robotic devices for improved effectiveness of rehabilitation therapy.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129063355","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: 45

Design of a new 5 d.o.f. wire-based robot for rehabilitation 一种新型5 d.o.f康复机器人的设计

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501135

G. Rosati, Pasquale Gallina, Stefano Masiero, A. Rossi

{"title":"Design of a new 5 d.o.f. wire-based robot for rehabilitation","authors":"G. Rosati, Pasquale Gallina, Stefano Masiero, A. Rossi","doi":"10.1109/ICORR.2005.1501135","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501135","url":null,"abstract":"In the last three years, a wire-based robot called the NeReBot (neurorehabilitation robot) was developed at the Robotics Laboratory of the Department of Innovation in Mechanics and Management, University of Padua, Italy. NeReBot is a 3 degrees-of-freedom (d.o.f.) wire-based robot, designed for the treatment of patients with stroke-related paralyzed or paretic upper limb during the acute phase. Although first clinical tests showed encouraging results in terms of motor recovery and functional outcome, the robot presented some limitations. Hence a new wire-based robot, called the MariBot (Marisa robot), was designed. The wire-drive philosophy, which makes the robot intrinsically safe, was maintained. Nevertheless, by changing the mechanical structure and adding two more d.o.f. the working space was enlarged significantly. Moreover, thanks to the improved mechanical design, MariBot results much lighter and less cumbersome than NeReBot. Finally, electronic hardware and control software were changed in order to improve man-machine interaction. In this paper, starting from the NeReBot experience, the design of MariBot is presented.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123937112","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: 93

Improved haptic interaction control with force filter compensator 改进了力滤波补偿器的触觉交互控制

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501075

J. Podobnik, M. Munih

引用次数: 4

Evaluation of tracking performance using joystick manipulators that engage different arm workspaces 使用操纵杆机械手参与不同手臂工作空间的跟踪性能评估

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501058

L.M. Johnson, J. Winters

引用次数: 5

In contrast to robots, in humans internal and manipulation forces are coupled 与机器人不同，人类的内力和操纵力是耦合的

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501129

Fan Gao, M. Latash, V. Zatsiorsky

{"title":"In contrast to robots, in humans internal and manipulation forces are coupled","authors":"Fan Gao, M. Latash, V. Zatsiorsky","doi":"10.1109/ICORR.2005.1501129","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501129","url":null,"abstract":"Internal force is defined as a set of contact forces which does not perturb object equilibrium. The internal forces cancel each other and therefore do not contribute to the resultant (manipulation) force acting upon the object. Mathematically, the internal and manipulation forces are independent. Hence they can be controlled independently and corresponding controllers have been implemented in robotic manipulators. The purposes of this study are to examine whether in humans internal force is coupled with the manipulation force and what kind of grasping strategy the performers utilize. The subjects (n=6) were instructed to make cyclic arm movements with a customized manipulandum and the orientation and the movement direction of the manipulandum were varied. Two major grasping patterns were demonstrated: symmetric grasping synergy when the manipulation force is parallel to finger-object interface; and reciprocal changes of forces when the manipulation force is orthogonal to digit-object interface. In contrast to robotic gripper where controls of internal force and manipulation force are decoupled, in humans the internal and manipulation forces are coupled.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125541525","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

High performance Cobotics 高性能机器人

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501071

E. Faulring, J. Colgate, M. Peshkin

引用次数: 4

Analysis and synthesis of human movements: wearable kinesthetic interfaces 人体运动的分析与综合:可穿戴的动觉界面

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501148

A. Tognetti, F. Lorussi, R. Bartalesi, M. Tesconi, G. Zupone, D. D. Rossi

引用次数: 7

An approach to designing software safety systems for rehabilitation robots 康复机器人软件安全系统的设计方法

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501096

S. Roderick, C. Carignan

引用次数: 19

A multi-stage shared control method for an intelligent mobility assistant 一种智能移动助手的多阶段共享控制方法

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501134

S. Mclachlan, J. Arblaster, O.K. Liu, J. V. Miró, L. Chenoweth

{"title":"A multi-stage shared control method for an intelligent mobility assistant","authors":"S. Mclachlan, J. Arblaster, O.K. Liu, J. V. Miró, L. Chenoweth","doi":"10.1109/ICORR.2005.1501134","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501134","url":null,"abstract":"This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The multi-stage control module consists of user intent, obstacle avoidance and fuzzy logic components. The user intent represents the person's commands. The obstacle avoidance component reads data representing any obstacles in the vicinity of the assistant and uses the vector field histogram (VFH) algorithm to select a suitable path to avoid any obstacles in the path of travel. The fuzzy logic component is responsible for merging the user intent and obstacle avoidance information such that the user's request is satisfied to the highest extent possible. When an unsafe situation presents itself the user's request(s) would be partially or wholly overridden so the assistant can return to a safe state. The system has been designed to be dynamically configurable so as to suit different users in terms of gait stability and strength, preferred speed of travel and level of control over the system. It has been tested both in a simulated environment and real-world operating conditions and has been shown to effectively avoid obstacles with minimal disruption to the user and their intent.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127480823","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: 46

Rehabilitation robot in intelligent home environment - software architecture and implementation of a distributed system 智能家居环境下的康复机器人分布式系统的软件架构与实现

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501158

O. Prenzel, J. Feuser, A. Graser

{"title":"Rehabilitation robot in intelligent home environment - software architecture and implementation of a distributed system","authors":"O. Prenzel, J. Feuser, A. Graser","doi":"10.1109/ICORR.2005.1501158","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501158","url":null,"abstract":"Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user's autonomy within daily life environment. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks. A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system's environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This paper is about the concept and realization of a software-framework being able to execute autonomous system operations together with information retrieving capabilities and user interactions within a distributed system. Key aspects of development have been to provide robust run-time behavior of the system along with the inclusion and resolving of redundant sensor information as well as to reduce the effort of system programming to a minimum. The application of the developed framework is demonstrated on base of sample steps of its integration with the FRIEND II rehabilitation robotic system within an intelligent home environment.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121759858","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: 16