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

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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
Development of an anthropomorphic hand for a mobile assistive robot 移动辅助机器人拟人化手的研制
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501080
A. Kargov, T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer, Rüdiger Dillmann
{"title":"Development of an anthropomorphic hand for a mobile assistive robot","authors":"A. Kargov, T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer, Rüdiger Dillmann","doi":"10.1109/ICORR.2005.1501080","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501080","url":null,"abstract":"In this paper the mechanism, design, and control system of a new humanoid-type hand with human-like manipulation abilities is discussed. The hand is designed for the humanoid robot which has to work autonomously or interactively in cooperation with humans. The ideal end effector for such a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore, a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths, and the shape of the palm. The hand can perform most of human grasping types. In this paper, particular attention is dedicated to measurement analysis, technical characteristics, and functionality of the hand prototype. Furthermore, first experience gained from using hand prototypes on a humanoid robot is outlined.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"167 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":"115416633","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: 62
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
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
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
Alternative grippers for the assistive robotic manipulator (ARM) 辅助机械臂(ARM)的替代夹具
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501145
G. Romer, H. Stuyt, G. Kramer, M. O'Callaghan, J. Scheffe
{"title":"Alternative grippers for the assistive robotic manipulator (ARM)","authors":"G. Romer, H. Stuyt, G. Kramer, M. O'Callaghan, J. Scheffe","doi":"10.1109/ICORR.2005.1501145","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501145","url":null,"abstract":"User and usability studies, as well as technical analysis, revealed that some aspects of the gripper (end-effector) of the assistive robotic manipulator (ARM) need improvement. This paper proposes, discusses and presents the results of three redesigns of the gripper.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"17 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":"130310039","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
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
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
Defining socially assistive robotics 定义社会辅助机器人
9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005. Pub Date : 2005-08-29 DOI: 10.1109/ICORR.2005.1501143
David Feil-Seifer, M. Matarić
{"title":"Defining socially assistive robotics","authors":"David Feil-Seifer, M. Matarić","doi":"10.1109/ICORR.2005.1501143","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501143","url":null,"abstract":"This paper defines the research area of socially assistive robotics, focusing on assisting people through social interaction. While much attention has been paid to robots that provide assistance to people through physical contact (which we call contact assistive robotics), and to robots that entertain through social interaction (social interactive robotics), so far there is no clear definition of socially assistive robotics. We summarize active social assistive research projects and classify them by target populations, application domains, and interaction methods. While distinguishing these from socially interactive robotics endeavors, we discuss challenges and opportunities that are specific to the growing field of socially assistive robotics.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"09 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":"128269042","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: 919
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