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

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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
Comparing adaptation of constrained and unconstrained movements in three dimensions 在三维空间中比较受约束和无约束运动的适应性
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501136
C. Scharver, J. Patton, R. Kenyon, E. Kersten
{"title":"Comparing adaptation of constrained and unconstrained movements in three dimensions","authors":"C. Scharver, J. Patton, R. Kenyon, E. Kersten","doi":"10.1109/ICORR.2005.1501136","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501136","url":null,"abstract":"This paper describes targeted reaching experiments conducted using a new augmented reality system. Combining a large-workspace immersive virtual environment with physical force feedback, the system distorted subjects' movements using a viscous curl force field. Following previous experiments using a different robot, half the subjects were constrained to horizontal, planar movements. The remaining subjects performed unconstrained movements throughout the 3D workspace. Examining after-effects as an indication of learning, we found that constrained subjects learned the force field. However, it was difficult to detect whether the unconstrained subjects learned forces of identical magnitude. Our results found that force fields strengths eliciting constrained 2D adaptation have difficulty exhibiting after-effects for unconstrained 3D movements. The increased motor variability for 3D reaching movements requires consideration for future experimental design.","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":"129758139","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: 5
Use dependent plasticity in the corticospinal pathways controlling human arm movement 在控制人类手臂运动的皮质脊髓通路中使用依赖的可塑性
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501048
M. A. Krutky, E. Perreault
{"title":"Use dependent plasticity in the corticospinal pathways controlling human arm movement","authors":"M. A. Krutky, E. Perreault","doi":"10.1109/ICORR.2005.1501048","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501048","url":null,"abstract":"We are investigating whether repetitive training, such as that used during rehabilitation interventions, can induce short term plasticity in the motor pathways controlling the proximal muscles of the human upper-limb. A ballistic, planar whole limb extension training routine has been employed in this study. This study uses transcranial magnetic stimulation (TMS) to quantify user-dependent plasticity in proximal and distal muscles throughout the upper-limb. Previous studies have shown consistent training induced plasticity in distal upper-limb muscles and proximal muscles with altered somatosensory input. This study demonstrates that whole limb motions can generate short term plastic effects in proximal upper-limb muscles, though results have not been consistent.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"38 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":"124439118","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: 1
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
Wrist rehabilitation following stroke: initial clinical results 中风后手腕康复:初步临床结果
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501040
S. Charles, H. I. Krebs, B. Volpe, D. Lynch, N. Hogan
{"title":"Wrist rehabilitation following stroke: initial clinical results","authors":"S. Charles, H. I. Krebs, B. Volpe, D. Lynch, N. Hogan","doi":"10.1109/ICORR.2005.1501040","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501040","url":null,"abstract":"In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in these joints. The greater reduction in impairment was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. The focus here is a robot for wrist rehabilitation designed to provide three rotational degrees of freedom. A previous paper at ICORR2003 and its companion book described the basic system design and characterization. In this paper we present clinical results from five (5) stroke patients. A comprehensive review of the wrist robot design, characterization, and initial clinical results are being submitted elsewhere (EEEE Transactions on Neural Systems and Rehabilitation Engineering).","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"15 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120986498","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: 80
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
Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation 用于机器人康复的二自由度踝足矫形器的设计
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501047
A. Agrawal, S. K. Banala, S. Agrawal, S. Binder-Macleod
{"title":"Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation","authors":"A. Agrawal, S. K. Banala, S. Agrawal, S. Binder-Macleod","doi":"10.1109/ICORR.2005.1501047","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501047","url":null,"abstract":"An ankle-foot orthosis (AFO) is commonly used to help subjects with weakness of ankle dorsiflexor muscles due to peripheral or central nervous system disorders. Both these disorders are due to the weakness of the tibialis anterior muscle which results in lack of dorsiflexion assist moment. The deformity and muscle weakness of one joint in the lower extremity influences the stability of the adjacent joints, thereby requiring compensatory adaptations. We present an innovative ankle-foot orthosis (AFO) that was designed to allow two degree-of-freedom motion while serving to maintain proper foot position for subjects. The prototype AFO would introduce greater functionality over currently marketed devices by means of its inversion-eversion degree-of-freedom in addition to flexion/extension. The flexion/extension is controlled with the help of an actuator and inversion/eversion with a spring and a damper.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"57 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":"132431587","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: 69
Estimation of muscle synergies in the presence of arbitrary inputs 在任意输入的情况下肌肉协同作用的估计
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501045
V. Ravichandran, E. Perreault
{"title":"Estimation of muscle synergies in the presence of arbitrary inputs","authors":"V. Ravichandran, E. Perreault","doi":"10.1109/ICORR.2005.1501045","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501045","url":null,"abstract":"The strategy the central nervous system utilizes to produce movements in the face of multiple degrees of freedom available has been a subject of study for the past few years. Of the possible mechanisms, the muscle synergies-stereotypical coordinated patterns of muscle activity elicited by dedicated networks have been suggested to be the building blocks. Based on this hypothesis, several algorithms have been proposed to discern these synergies from the recorded electromyographic signals (EMG). In the proposed model, the synergies are treated as filters (IRFs) that take as input any arbitrary non-negative signal. That is, the EMG is seen as a convolution mixture of synergies and corresponding inputs.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"45 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":"132451517","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: 1
Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT 力-位置混合控制产生康复机器人LOKOMAT的合作行为
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501159
Michael Bernhardt, M. Frey, G. Colombo, R. Riener
{"title":"Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT","authors":"Michael Bernhardt, M. Frey, G. Colombo, R. Riener","doi":"10.1109/ICORR.2005.1501159","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501159","url":null,"abstract":"The rehabilitation robot LOKOMAT has been developed at the Spinal Cord Injury Center of the University Hospital Balgrist, Zurich. It allows automated treadmill training for patients with mobility impairment of the lower limbs. Former position control strategies did not allow voluntary active movements of the patient. This paper presents a new cooperative control architecture for the LOKOMAT that enforces active force contribution of the patient. Based on a dynamic model of the human gait, the patient is supported by an arbitrary percentage of the force required to walk. Online gait event detectors have been developed and implemented since the controller mode changes depending on the gait phase. The new control strategy is highly patient-driven and enables the patient to accomplish free walking movements. Thus, it is expected, that the motivation of the patient can be maximized and the rehabilitation progress accelerated.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"43 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":"132051539","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: 156
Field test of a force control rehabilitation system for quantitative evaluation of the disorder in the upper extremities 用于上肢障碍定量评估的力控制康复系统的现场测试
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501057
E. Goto, K. Ohnishi, H. Miyagawa, Y. Saito
{"title":"Field test of a force control rehabilitation system for quantitative evaluation of the disorder in the upper extremities","authors":"E. Goto, K. Ohnishi, H. Miyagawa, Y. Saito","doi":"10.1109/ICORR.2005.1501057","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501057","url":null,"abstract":"This paper reports on a field test of our simple force-sensor-based rehabilitation device that can be handled at homes or neighboring medical institutions. We propose a tri-axial load cell controller system for quantitatively evaluating the visually guided motor control characteristic of a weak palsy arm. The result is recorded in the database while evaluation is presented for each trial. The system is tested at an orthopedic clinic with outpatients: cervical spinal cord injured patient and 2 other cases. Their mid-term testing results are discussed.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2016 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":"128037534","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: 3
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