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

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A motorized gravity compensation mechanism used for active rehabilitation of upper limbs 一种用于上肢主动康复的机动重力补偿机制
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501073
M.G. van Elk, B. Driessen, M. Dorrepaal, J. J. van der Werff, E.G. van der Meche, A. Aulbers
{"title":"A motorized gravity compensation mechanism used for active rehabilitation of upper limbs","authors":"M.G. van Elk, B. Driessen, M. Dorrepaal, J. J. van der Werff, E.G. van der Meche, A. Aulbers","doi":"10.1109/ICORR.2005.1501073","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501073","url":null,"abstract":"The active rehabilitation system (ACRE) provides motivation-based therapy at home to people who suffer from (temporary) loss of muscle control in the upper limbs. In a first prototype the movement of the patient's arm (i.e. the therapy) is supported by a passive gravity compensating mechanism. The patient interacts with a therapy-game while the patient's movements are measured. Data analysis on the movement can help in researching the benefits of different types of exercises. The prototype showed promising results during the first user trials. However, during these trials the system put rather high constraints on the users with respect to the minimal force and reach needed to execute certain tasks. By developing a new, motorized gravity compensation mechanism, these constraints can be lowered and the group of patients that can benefit from this system can be enlarged. Intensive evaluations of the system are planned, starting from June 2005 until the end of the year.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"69 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":"114350503","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
A hands-off physical therapy assistance robot for cardiac patients 一种为心脏病患者提供物理治疗辅助机器人
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501114
Kyong Il Kang, Sanford T. Freedman, Maja J. Matari, Mark J. Cunningham, Becky Lopez
{"title":"A hands-off physical therapy assistance robot for cardiac patients","authors":"Kyong Il Kang, Sanford T. Freedman, Maja J. Matari, Mark J. Cunningham, Becky Lopez","doi":"10.1109/ICORR.2005.1501114","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501114","url":null,"abstract":"This paper presents a feasibility study of using socially-aware autonomous robots to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is described that provides motivation and support for cardiac patients who must perform regular but painful breathing exercises. Initial validation of the system has garnered positive responses from test subjects and shows that robots have a potential to aid nursing staff in some tasks requiring patient interaction.","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":"134473528","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
Development of intelligent prosthetic hand adapted to age and body shape 适应年龄和体型的智能假手的研制
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501125
Yukio Saito, Atsuo Ogawa, Hiroshi Negoto, K. Ohnishi
{"title":"Development of intelligent prosthetic hand adapted to age and body shape","authors":"Yukio Saito, Atsuo Ogawa, Hiroshi Negoto, K. Ohnishi","doi":"10.1109/ICORR.2005.1501125","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501125","url":null,"abstract":"The most favorable electrical prosthetic hands to our patients both in size and in appearance are those that fit to their age and body shape. Particularly, with such patients who have real hand, it is important to conform the size and appearance of electrical prosthetic hands to their healthy hands. It is also important to gather the information about individual hands and to apply it for making the electrical prosthetic hands at their requests. The paper investigates a series of our technological developments of prosthetic hands.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"50 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":"132168417","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
Learning to perform a novel movement pattern using haptic guidance: slow learning, rapid forgetting, and attractor paths 学习使用触觉引导执行一种新的运动模式:慢速学习、快速遗忘和吸引路径
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501046
J. Liu, J. Emken, Steven C. Cramer, D. Reinkensmeyer
{"title":"Learning to perform a novel movement pattern using haptic guidance: slow learning, rapid forgetting, and attractor paths","authors":"J. Liu, J. Emken, Steven C. Cramer, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501046","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501046","url":null,"abstract":"Mechanical guidance is a common technique to teach patients desired movement patterns during motor rehabilitation, but little is known about the motor learning processes involved with this technique. In this study we examined how well unimpaired subjects could learn to trace a novel path after they practiced it with mechanical guidance from a robot. The form of haptic guidance used was a virtual channel that constrained the hand to follow the desired path (a snake-like curve). Subjects substantially improved their ability to trace the path following practice with haptic guidance, relative to their performance following an initial visual demonstration. They slowly improved their performance with more haptic training. However, when asked to reproduce the path repeatedly, their performance degraded over the course of a few trials. The tracing errors were not random, but instead were consistent with a systematic evolution toward another path, as if being drawn to an \"attractor path\". These results suggest that haptic demonstration can improve short-term performance of a novel desired trajectory. However, in the short term, the motor system is inclined to repeat its mistakes following just a few movements without guidance.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"348 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":"115298819","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
Mechanical design of a prosthetic shoulder mechanism for upper limb amputees 上肢截肢者义肢肩部机构的机械设计
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501103
M. Troncossi, V. Parenti-Castelli, A. Davalli
{"title":"Mechanical design of a prosthetic shoulder mechanism for upper limb amputees","authors":"M. Troncossi, V. Parenti-Castelli, A. Davalli","doi":"10.1109/ICORR.2005.1501103","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501103","url":null,"abstract":"Due to their restricted mobility, current commercial prosthetic devices for upper limb amputees could be inadequate to satisfactorily rehabilitate patients with the severest injuries, like shoulder-disarticulated patients. The aim of this study is to develop a mechanism which can replicate the function of the missing shoulder joint, increasing the mobility' of the current prosthesis and its overall performance. The mechanical design of the device is highly dependent on the clinical factors of the rehabilitation process: thus an approach which combines both clinical and technical aspects has been used and proposed. This paper summarizes the most significant design steps and describes the most promising solution studied.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"53 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":"122027864","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
Realizing a posture-based wearable antigravity muscles support system for lower extremities 一种基于姿态的可穿戴下肢反重力肌肉支撑系统的实现
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501100
Takahiko Nakamura, K. Saito, Zhidong Wang, K. Kosuge
{"title":"Realizing a posture-based wearable antigravity muscles support system for lower extremities","authors":"Takahiko Nakamura, K. Saito, Zhidong Wang, K. Kosuge","doi":"10.1109/ICORR.2005.1501100","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501100","url":null,"abstract":"In this paper, to support antigravity muscles during stance phase more strongly, we propose a new wearable antigravity muscles support system, which supports antigravity muscles around the knee and hip joint. In this system, a posture-based control algorithm for the device without using biological signals is implemented to the wearable antigravity muscles support device. Experimental results show the potential of this proposed system.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"136 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114001448","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
Virtual environment for robotic tele-rehabilitation 机器人远程康复的虚拟环境
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501121
J. Tang, C. Carignan, S. Gattewar
{"title":"Virtual environment for robotic tele-rehabilitation","authors":"J. Tang, C. Carignan, S. Gattewar","doi":"10.1109/ICORR.2005.1501121","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501121","url":null,"abstract":"Haptic and visual displays are combined to realize cooperative, force-feedback tasks over the Internet. The operators \"exert\" forces on a virtual object which in turn generates a set of reaction forces to be displayed on the haptic devices. A novel cooperative control architecture based on wave variables is implemented to realize stable operation in the presence of time delays. The control scheme is validated experimentally for a manipulation task over the Internet using a pair of InMotion2 robots. Preliminary results are also presented for 3D tasks rendered on a head-mounted display equipped with a head tracker for changing viewing angles.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"5 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":"116874108","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: 17
Development of a statically balanced arm support: ARMON 一种静态平衡臂支架的开发:ARMON
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501102
J. Herder
{"title":"Development of a statically balanced arm support: ARMON","authors":"J. Herder","doi":"10.1109/ICORR.2005.1501102","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501102","url":null,"abstract":"People with neuromuscular diseases can benefit from devices that assist their motoric capabilities. Different categories can be distinguished for different patient groups, ranging from robotic manipulators to non-powered orthoses. Robotic manipulators can be used by people with virtually no muscle force, whereas non-powered orthoses require at least acceleration and deceleration effort. This paper proposes a hybrid solution, constituting a non-powered orthosis that can be electronically adjusted to varying load. An overview of prototype development would be presented, including the design of linkage, balancer, interface and appearance. A preliminary evaluation with users is also provided.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"86 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":"126543388","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: 50
Synthesis of perturbations for gait rehabilitation robots 步态康复机器人摄动综合
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501055
H. Schmidt, F. Piorko, R. Bernhardt, J. Krüger, S. Hesse
{"title":"Synthesis of perturbations for gait rehabilitation robots","authors":"H. Schmidt, F. Piorko, R. Bernhardt, J. Krüger, S. Hesse","doi":"10.1109/ICORR.2005.1501055","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501055","url":null,"abstract":"Perturbations are an important measure to improve gait training and to investigate the learning success of stroke patients during rehabilitation. This paper describes the development and implementation of algorithms for the synthesis of perturbations during gait training on a robotic walking simulator. The perturbation algorithm performs an automatic on-line adaptation of the robot motion override. Hence, it is independent from the type of motion interpolation which the robot motion is based on. Perturbations we have implemented so far include stumbling, i.e. hitting an obstacle during swing phase, and slipping, i.e. sliding on an obstacle during stance phase. An additional catch-up control algorithm ensures that both feet will regain synchronous motion again after the event The algorithms have been implemented in the control software of the HapticWalker, a programmable footplate based human walking simulator for gait rehabilitation, which we have developed. So far a number of healthy subjects have successfully tested the algorithms on the simulator. Clinical trials will follow.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"31 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":"129565842","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
Causality-based portable control system design for tele-assessment of elbow joint spasticity 基于因果关系的便携式控制系统设计用于肘关节痉挛的远程评估
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501107
Hyung‐Soon Park, Q. Peng, Li-Qun Zhang
{"title":"Causality-based portable control system design for tele-assessment of elbow joint spasticity","authors":"Hyung‐Soon Park, Q. Peng, Li-Qun Zhang","doi":"10.1109/ICORR.2005.1501107","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501107","url":null,"abstract":"A portable tele-assessment system was developed for remote evaluation of the spastic elbow joint of stroke survivors. The causality-based control architectures were introduced for designing the controllers for the tele-assessment system. Based on causality analysis of the tele-assessment tasks, control architectures were designed to guarantee system stability and to provide the clinician with transparent feeling in the presence of small time delay. The proposed method was verified experimentally on the elbow of healthy subjects. The device was made portable and low cost, which makes it potentially more accessible to patients in remote areas.","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":"129692426","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: 7
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