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9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.最新文献

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PlayROB - robot-assisted playing for children with severe physical disabilities PlayROB -为有严重身体残疾的儿童提供的机器人辅助游戏
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501082
G. Kronreif, B. Prazak, S. Mina, M. Kornfeld, M. Meindl, M. Furst
{"title":"PlayROB - robot-assisted playing for children with severe physical disabilities","authors":"G. Kronreif, B. Prazak, S. Mina, M. Kornfeld, M. Meindl, M. Furst","doi":"10.1109/ICORR.2005.1501082","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501082","url":null,"abstract":"From a developmental and educational perspective, play is a \"natural\" way in which children learn in an enjoyable manner. This paper aims to describe one possible contribution of selected robotics technology and automation for making toys available to children with severe physical disabilities. This work is mainly based on a qualitative study which is aimed to analyse how children with physical disabilities play in comparison with normal children. One particular result of this study is a dedicated robot system which supports children with the above mentioned disabilities for interaction with standard toys being realized by ARC Seibersdorf research GmbH. Besides of a description of the robot system the paper gives first results from user trials and outlines future development.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"6 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":"131529697","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: 41
Design of a robotic upper extremity repetitive therapy device 机器人上肢重复治疗装置的设计
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501060
Jiping He, E. Koeneman, R. S. Schultz, H. Huang, J. Wanberg, D. Herring, T. Sugar, R. Herman, J. Koeneman
{"title":"Design of a robotic upper extremity repetitive therapy device","authors":"Jiping He, E. Koeneman, R. S. Schultz, H. Huang, J. Wanberg, D. Herring, T. Sugar, R. Herman, J. Koeneman","doi":"10.1109/ICORR.2005.1501060","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501060","url":null,"abstract":"Intensive repetitive therapy shows promise to improve motor function and quality of life for stroke patients. Intense therapies provided by individualized interaction between the patient and rehabilitation specialist to overcome upper extremity impairment are beneficial, however, they are expensive and difficult to evaluate quantitatively and objectively. The development of a pneumatic muscle (PM) driven therapeutic device, the RUPERT/spl trade/ has the potential of providing a low cost and safe take-home method of supplementing therapy in addition to in the clinic treatment. The device can also provide real-time, objective assessment of functional improvement from the therapy.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2012 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":"132010889","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: 67
A robotic device for hand motor therapy after stroke 一种用于中风后手部运动治疗的机器人装置
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501041
Craig D. Takahashi, L. Der-Yeghiaian, V. Le, S. Cramer
{"title":"A robotic device for hand motor therapy after stroke","authors":"Craig D. Takahashi, L. Der-Yeghiaian, V. Le, S. Cramer","doi":"10.1109/ICORR.2005.1501041","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501041","url":null,"abstract":"This paper describes the design of a robotic device - the hand-wrist assisting robotic device, or HWARD (\"Howard\") - that can assist functional grasping and releasing movements of the stroke-impaired hand. The 3 degrees-of-freedom device is pneumatically-actuated and backdriveable. The design of HWARD was guided by neurobiological principles of motor learning, such as sensorimotor integration, movement repetition, environmental complexity, and attention. Specifically, HWARD can assist repetitive grasping and releasing movements while allowing the subject to feel real objects during therapy. The use of real objects having rich sensory and functional characteristics can stimulate sensorimotor cortex activation while enhancing subject motivation and attention - features hypothesized to reduce impairment and disability. A pilot study tests the safety and efficacy of HWARD, with endpoints that include established motor function scales as well as brain mapping with functional MRI (fMRI).","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2 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":"131310788","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: 147
Finger-force measurement-device for hand rehabilitation 用于手部康复的指力测量装置
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501069
S. Olandersson, H. Lundqvist, M. Bengtsson, M. Lundahl, A. Baerveldt, M. Hilliges
{"title":"Finger-force measurement-device for hand rehabilitation","authors":"S. Olandersson, H. Lundqvist, M. Bengtsson, M. Lundahl, A. Baerveldt, M. Hilliges","doi":"10.1109/ICORR.2005.1501069","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501069","url":null,"abstract":"The purpose was to develop an extension fingerforce measurement device, and investigate the intraindividual repeatability. The design of the measuring device allows single finger force and whole hand measurements, and the repeatability error on extension finger forces was measured, both on the whole hand, as well as on individual fingers. The tests showed that a repeatability error of less then 15 % can be achieved for single finger measurements and less then 21 % for whole hand measurements.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"98 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":"126898564","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: 32
Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training 外骨骼式训练中用作扭矩执行器的系列弹性和波登索驱动系统的设计
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501150
J. Veneman, R. Ekkelenkamp, R. Kruidhof, F. V. D. Helm, H. Kooij
{"title":"Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training","authors":"J. Veneman, R. Ekkelenkamp, R. Kruidhof, F. V. D. Helm, H. Kooij","doi":"10.1109/ICORR.2005.1501150","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501150","url":null,"abstract":"Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque source quality. It consists of a servomotor, a flexible Bowden cable transmission, and a force feedback loop based on a series elastic element. Measurements show that performance is sufficient for use in a gait rehabilitation robot.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"19 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":"114518167","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: 147
Design criteria for a mechatronic handle for measuring visco-elastic properties of the human arm 测量人体手臂粘弹性的机电手柄设计准则
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501137
I. Sardellitti, L. Zollo, D. Accoto, S. Silvestri, E. Guglielmelli
{"title":"Design criteria for a mechatronic handle for measuring visco-elastic properties of the human arm","authors":"I. Sardellitti, L. Zollo, D. Accoto, S. Silvestri, E. Guglielmelli","doi":"10.1109/ICORR.2005.1501137","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501137","url":null,"abstract":"The experimental investigation of the visco-elastic properties of the human arm has important implications in neuroscience, robotics and neuro-rehabilitation of the upper limb. In neuroscience it allows studying the mechanisms used by the central nervous system in implementing low-level strategies for motion control; in robotics it can provide useful information for the formulation of control strategies for human-robot interaction, by taking inspiration from the biological behavior; in neuro-rehabilitation it may be a useful tool for quantitatively assessing the recovery of motor functions during motor therapy. Few mechatronic instruments exist allowing the direct measurement of visco-elastic properties of the human arm. None of them are intended to be portable and stand-alone devices, and also to be properly interfaced with existing robots as end effectors. This paper is concerned with the design of a novel mechatronic handle intended to be a portable device for the measurement of human arm visco-elastic properties. The design specifications take into account also the possibility of adapting the device to existing robots for rehabilitation motor therapy. In particular, the investigation of existing literature, both in robotics and in neuroscience, together with numerical simulations, led to the selection of the most useful technical specifications for such devices. A preliminary design of the handle is also presented and discussed.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 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":"114381416","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
Human-centered rehabilitation robotics 以人为中心的康复机器人
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501110
R. Riener, M. Frey, M. Bernhardt, T. Nef, G. Colombo
{"title":"Human-centered rehabilitation robotics","authors":"R. Riener, M. Frey, M. Bernhardt, T. Nef, G. Colombo","doi":"10.1109/ICORR.2005.1501110","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501110","url":null,"abstract":"This paper presents new human-centered robotic approaches applied to the rehabilitation of gait and upper-extremity functions in patients with movement disorders. So-called \"patient-cooperative\" strategies can take into account the patient's intention and efforts rather than imposing any predefined movement. It is hypothesized that such human-centered robotic approaches can improve the therapeutic outcome compared to classical rehabilitation strategies.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"241 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":"115109248","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: 52
Development of externally powered lower limb orthosis with bilateral-servo actuator 双侧伺服作动器外动力下肢矫形器的研制
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501127
Yukio Saito, Kazuya Kikuchi, Hiroshi Negoto, Toru Oshima, T. Haneyoshi
{"title":"Development of externally powered lower limb orthosis with bilateral-servo actuator","authors":"Yukio Saito, Kazuya Kikuchi, Hiroshi Negoto, Toru Oshima, T. Haneyoshi","doi":"10.1109/ICORR.2005.1501127","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501127","url":null,"abstract":"The externally powered orthosis is one of the necessary devices for rehabilitation of paraplegia patients and hemiplegia patients and spinal-cord-injury victims. However, the main problems of speed, noise, and weight and so on make the morale of the training lower. Then, we thought that there were problems in the actuator. To overcome these problems, we have developed the orthosis externally powered by bi-articular muscle mechanism with a bilateral-servo actuator. Our study suggests such a system as the physically disabled can train with the externally powered orthosis and ambulation device in smooth action.","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":"123518898","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: 63
An assistive robotic device that can synchronize to the pelvic motion during human gait training 一种辅助机器人装置，可以在人类步态训练中同步骨盆运动
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1502026
D. Aoyagi, W. Ichinose, S. Harkema, D. Reinkensmeyer, J. Bobrow
{"title":"An assistive robotic device that can synchronize to the pelvic motion during human gait training","authors":"D. Aoyagi, W. Ichinose, S. Harkema, D. Reinkensmeyer, J. Bobrow","doi":"10.1109/ICORR.2005.1502026","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1502026","url":null,"abstract":"We are developing a robotic device, PAM (pelvic assist manipulator), that assists the pelvic motion during human gait training on a treadmill. PAM allows naturalistic motion of pelvis actuated by six pneumatic cylinders, which, combined with a nonlinear force-tracking controller, provide backdrivability and large force output at a relatively low cost. PAM can act as a teach-and-replay device with a PD position controller driving the pelvis onto the reference trajectory specified with or without the help of therapists. During initial experiments with unimpaired subjects, we encountered a problem in which the subjects had difficulty synchronizing their movements with the gait pattern reproduced by PAM, even though that gait pattern had been sampled from the subjects themselves. We introduced footswitches to detect the gait timing and developed a feedback control algorithm that adjusts the play-back speed of the gait pattern in real-time. The feedback algorithm is presented, along with data that shows the effectiveness of the algorithm in synchronizing the robotic assistance during stepping by unimpaired subjects, even when the subjects change their step size and period.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 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":"129093779","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: 52
Powered lower limb orthoses: applications in motor adaptation and rehabilitation 动力下肢矫形器:在运动适应和康复中的应用
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501086
Gregory S Sawicki, Keith E. Gordon, Daniel P. Ferris
{"title":"Powered lower limb orthoses: applications in motor adaptation and rehabilitation","authors":"Gregory S Sawicki, Keith E. Gordon, Daniel P. Ferris","doi":"10.1109/ICORR.2005.1501086","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501086","url":null,"abstract":"Task-specific practice can be beneficial for motor rehabilitation after neurological injury. Unfortunately, high labor demands have limited its clinical acceptance, especially for gait rehabilitation. A number of research teams around the world are testing large robotic devices for assisting treadmill stepping as a means for reducing therapist labor. We propose that powered lower limb orthoses may also have a role in assisting gait rehabilitation. Powered orthoses could assist task specific practice of gait with the long-term goal of improving patients' inherent locomotor capabilities. We present data showing that: (1) pneumatically powered lower limb orthoses can provide substantial mechanical assistance to human walking, (2) powered orthoses can lead to motor adaptation of gait in healthy subjects, and (3) powered lower limb orthoses may have positive benefits during gait rehabilitation.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"33 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":"124511704","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: 160
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