9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.最新文献_第5页

Measuring human trainers' skill for the design of better robot control algorithms for gait training after spinal cord injury 测量人类训练者的技能，设计更好的脊髓损伤后步态训练机器人控制算法

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501092

J. Galvez, G. Kerdanyan, S. Maneekobkunwong, R. Weber, M. Scott, S. Harkema, D. Reinkensmeyer

{"title":"Measuring human trainers' skill for the design of better robot control algorithms for gait training after spinal cord injury","authors":"J. Galvez, G. Kerdanyan, S. Maneekobkunwong, R. Weber, M. Scott, S. Harkema, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501092","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501092","url":null,"abstract":"This paper presents work towards quantifying the manual assistance provided by therapists during locomotor training for people with spinal cord injury. The final goal is to translate human trainers' skill into gait-training robot algorithms. Locomotor training is a rehabilitation technique in which three therapists assist the legs and hip of the patient to walk on a treadmill while part of the patient's body weight is supported by an overhead harness. We have developed a sensorized orthosis that measures shank kinematics and therapist forces during locomotor training. The orthosis is attached to one of the legs, so that one of the therapists assists through the orthotic interface. This interface is similar to how a locomotor-training robot is attached to the patient's shank. However, the force and intelligence behind the orthosis is not robotic, but human. Our intention is to quantify and analyze the human therapists' intelligence and expertise to help design better gait-training robot control algorithms. In this paper we present some preliminary results from the first locomotor training sessions with spinal cord injured patients using this sensor system. A key initial finding is that even skilled trainers assist with substantial differences in terms of both forces and motions. With the same patient, same stepping speed and same body weight support, the differences in peak forces applied to the knee between trainers were up to 100% in some sessions.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"82 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":"121122710","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: 35

The analysis, design and implementation of a model of an exoskeleton to support mobility 分析，设计和实现一个外骨骼模型，以支持移动

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501061

C. Acosta-Marquez, D. Bradley

引用次数: 32

Implementation of an intelligent walking assistant robot for the elderly in outdoor environment 一种户外环境下老年人智能行走辅助机器人的实现方法

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501140

H. Shim, E. Lee, J. Shim, Sang-Moo Lee, Seung-Hong Hong

引用次数: 38

Adjustable robotic tendon using a 'Jack Spring'/spl trade/ 使用'Jack Spring'/spl trade/的可调节机器人肌腱

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501064

K. Hollander, T. Sugar, D. Herring

引用次数: 110

Investigation of motor adaptation to movement versus object parameters 运动对物体参数的适应性研究

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501066

F. Huang, R. Gillespie, A. Kuo

{"title":"Investigation of motor adaptation to movement versus object parameters","authors":"F. Huang, R. Gillespie, A. Kuo","doi":"10.1109/ICORR.2005.1501066","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501066","url":null,"abstract":"In this study healthy human subjects (n=10) manually controlled a rotary handle to track a sinusoidally moving target as displayed on a computer screen. During movement, either the apparent handle inertia or tracking frequency changed to a higher or lower value. We analyzed the initial performance recovery following task perturbation using a linear fit of the velocity tracking error trends. For both types of task perturbations, we found significant increases in the intercept of the line fit (paired t-tests, two-tailed: p<.05) compared to trials with no change. We also found that adaptation rates indicated by the slope of the line fit of the tracking velocity error were larger for frequency changes than for apparent changes of the inertia for parameter increases (p=0.029, paired t-tests, one-tailed) and parameter decreases (p=0.055, paired tests, one-tailed). Our results provide evidence that humans use low impedance control that is task-specific to object parameters such as inertia. In addition, the results provide evidence that the adaptation to motion parameter changes and object parameter changes are different control processes.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"46 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":"126959284","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

Control of air-cell mattress for preventing pressure ulcer based on approximate anthropometric model 基于近似人体测量模型的气垫防压性溃疡控制

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501076

Inhyuk Moon, Sungjae Kang, G. Kim, M. Mun

{"title":"Control of air-cell mattress for preventing pressure ulcer based on approximate anthropometric model","authors":"Inhyuk Moon, Sungjae Kang, G. Kim, M. Mun","doi":"10.1109/ICORR.2005.1501076","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501076","url":null,"abstract":"Air mattress is now used widely to prevent the pressure ulcer by reducing the localized pressure peaks. In this paper an air-cell mattress and its pressure control method based on an approximate anthropometric model are presented. The air-cell mattress has eighteen cylindrical air cells made of porous material allowing air leakage to contribute in reducing the development of pressure ulcer by lowering the pressure peak, temperature and humidity. To determine an optimal air-cell pressure appropriate for each user, we divide the parts of the body into four sections such as head, trunk, hip, and leg. Then, the pressure of each section is independently calculated from the weight of each part based on the individual body height and weight and the approximate anthropometric model. Air supply system for the air-cell mattress is implemented by using four electronic solenoid valves and an air compressor, and it is driven by a real-time micro-controller. The experimental results for seven subjects shows that the proposed air-cell mattress is effective for the prevention of the pressure ulcer.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"75 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":"124832383","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: 19

Development of the MACARM - a novel cable robot for upper limb neurorehabilitation 新型上肢神经康复用缆索机器人MACARM的研制

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501106

David Mayhew, Benjamin Bachrach, W. Z. Rymer, Randall F. Beer

引用次数: 108

Advanced robotic residence for the elderly/the handicapped: realization and user evaluation

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501149

Jin-Woo Jung, Jun-Hyeong Do, Young-min Kim, Kwang-Suhk Suh, Dae-Jin Kim, Z. Bien

引用次数: 37

Cross-cultural considerations in establishing roboethics for neuro-robot applications 在神经机器人应用中建立机器人伦理学的跨文化考虑

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501038

J. Wagner, D. Cannon, H. V. D. Van der Loos

引用次数: 12

MARIONET: An exotendon-driven rotary series elastic actuator for exerting joint torque MARIONET:外伸筋驱动的旋转系列弹性执行器，用于施加关节扭矩

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501062

J. Sulzer, M. Peshkin, J. Patton

引用次数: 54