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2009 IEEE International Conference on Rehabilitation Robotics最新文献

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Simulation of clonic movement with leg-robot driven by Compact MR Fluid Clutch 紧凑型MR流体离合器驱动腿式机器人的克隆运动仿真
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209612
T. Kikuchi, K. Oda, J. Furusho
{"title":"Simulation of clonic movement with leg-robot driven by Compact MR Fluid Clutch","authors":"T. Kikuchi, K. Oda, J. Furusho","doi":"10.1109/ICORR.2009.5209612","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209612","url":null,"abstract":"In this study, we propose a leg-robot with a Compact MR Fluid Clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements, which is based on the basic knowledge of neuronal physiology.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120906106","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
An empirical study with simulated ADL tasks using a vision-guided assistive robot arm 使用视觉引导辅助机械臂模拟ADL任务的实证研究
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209527
Dae-Jin Kim, R. Lovelett, A. Behal
{"title":"An empirical study with simulated ADL tasks using a vision-guided assistive robot arm","authors":"Dae-Jin Kim, R. Lovelett, A. Behal","doi":"10.1109/ICORR.2009.5209527","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209527","url":null,"abstract":"In this paper, we describe an empirical study with healthy subjects with simulated ADL tasks using UCF-ARM - a 6-DOF assistive robot that is visually guided through a calibrated stereo camera system fitted in the gripper of Exact Dynamics' Manus ARM. The goal of the research is to reduce time to task completion and cognitive burden for users interacting with an unstructured environment via a Wheelchair Mounted Robotic Arm (WMRA). Our WMRA, UCF-ARM, provides access to a multimodal user-customizable human computer interface and accomplishes visual servoing through an in-hand stereo rig as well as adaptive grip force application through force sensing resistors embedded in the fingers of the gripper. Choice of user interface is dependent on the user's functional level and injury. Two level object grasping tasks are used to assess the time to task completion and cognitive burden for users evaluating the system under different tasks, control modes, and interface modalities. Results of the statistical analysis are provided to compare the advantages and disadvantages of the evaluated options.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121375250","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: 27
Visuo-manual tracking in a robot-generated dynamic environment 在机器人生成的动态环境中进行视觉手动跟踪
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209538
V. Squeri, L. Masia, E. Vergaro, M. Casadio, V. Sanguineti, P. Morasso
{"title":"Visuo-manual tracking in a robot-generated dynamic environment","authors":"V. Squeri, L. Masia, E. Vergaro, M. Casadio, V. Sanguineti, P. Morasso","doi":"10.1109/ICORR.2009.5209538","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209538","url":null,"abstract":"This study investigates a dual task: 1) visuo-manual tracking of a target moving on an eight-shaped trajectory and 2) compensation of a robot-generated, motion-dependent force field. The target speed is dependent on the tracking error, in such a way that the task difficulty increases as tracking performance improves. The results show that although non trivial this dual-task protocol can be learned in a coordinated way, preserving features of intermittent control, also present when the dynamic component of the protocol is absent. The potential usefulness of this dual task in the rehabilitation of neurological patients is also discussed.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122847787","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
Rehabilitation robotics in robotics for healthcare; A roadmap study for the European Commission 医疗机器人中的康复机器人;欧盟委员会的路线图研究
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209498
G. Gelderblom, Monique De Wilt, G. Cremers, A. Rensma
{"title":"Rehabilitation robotics in robotics for healthcare; A roadmap study for the European Commission","authors":"G. Gelderblom, Monique De Wilt, G. Cremers, A. Rensma","doi":"10.1109/ICORR.2009.5209498","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209498","url":null,"abstract":"To gain understanding in the current status of Robotics in healthcare the European Commission issued a roadmap study into this domain. This paper reports on the main characteristics and results of this study. The study covered the wide domain of Healthcare and in this paper the domains relevant for Rehabilitation Robotics are highlighted. The study ultimately resulted in a range of required or foreseen developments foreseen in six areas of Healthcare Robotics regarding societal needs, innovations and technology. These developments were positioned along a timescale running till 2025. This study will guide the policy development of the 7th and 8th framework of the EC.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122574105","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
Thumb-tip force estimation from sEMG and a musculoskeletal model for real-time finger prosthesis 基于表面肌电信号的指尖力估计及实时手指假体的肌肉骨骼模型
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209518
Wonil Park, Suncheol Kwon, Hae-Dong Lee, Jung Kim
{"title":"Thumb-tip force estimation from sEMG and a musculoskeletal model for real-time finger prosthesis","authors":"Wonil Park, Suncheol Kwon, Hae-Dong Lee, Jung Kim","doi":"10.1109/ICORR.2009.5209518","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209518","url":null,"abstract":"Due to the difficulties in measurement of muscle activities and the complex musculoskeletal structure, estimations of the thumb-tip force in real time have been a challenge for controlling artificial prosthesis naturally. This study describes an isometric thumb-tip force estimation technique based on phenomenological muscle model named Hill's model. The surface electromyogram (sEMG) signals of the muscles near surface were measured and converted to muscle activation information. The activations of deep muscles were inferred from the ratios of muscle activations from earlier study. The muscle length of each contributed muscle was obtained by using motion capture system and musculoskeletal modeling software packages. Once muscle forces were calculated, thumb-tip force was estimated based on mapping model from the muscle force to thumb-tip force. The proposed method was evaluated in comparisons with an artificial neural network (ANN) under four different thumb configurations to investigate the potential for estimations under conditions in which the thumb configuration changes. The results seem to be promising and the proposed method could be applied to predict finger-tip forces from non-invasive neurosignals with a real-time prosthesis control system.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128623813","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: 14
A randomized controlled trial on the recovery process of wrist rehabilitation assisted by Electromyography (EMG)-Driven robot for chronic stroke 肌电驱动机器人辅助腕部康复治疗慢性脑卒中的随机对照研究
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209578
X. L. Hu, K. Tong, R. Song, X. J. Zheng, W. Leung
{"title":"A randomized controlled trial on the recovery process of wrist rehabilitation assisted by Electromyography (EMG)-Driven robot for chronic stroke","authors":"X. L. Hu, K. Tong, R. Song, X. J. Zheng, W. Leung","doi":"10.1109/ICORR.2009.5209578","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209578","url":null,"abstract":"The effect of using robots to improve motor recovery has received increased attention, while the treatment effectiveness remains a topic of study. We compared the training effects by treatments on the wrist joint of chronic stroke patients with an Electromyography (EMG)-Driven robot (interactive group, n=15) and a robot with continuous passive motion (passive group, n=12) by a randomized Controlled trial. The interactive treatment with the EMG-driven robot improved the motor function for both the wrist and elbow joints in muscle coordination and spasticity reduction after the training, which could be kept for 3 months. The passive mode training mainly reduced the spasticity in the wrist flexor, but did not contribute to the muscle coordination improvement.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125820403","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
Waseda Bioinstrumentation System #3 as a tool for objective rehabilitation measurement and assessment - Development of the inertial measurement unit - 作为客观康复测量和评估工具的早稻田生物仪器系统#3 -惯性测量单元的发展
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209491
S. Sessa, M. Zecca, Zhuohua Lin, T. Sasaki, K. Itoh, A. Takanishi
{"title":"Waseda Bioinstrumentation System #3 as a tool for objective rehabilitation measurement and assessment - Development of the inertial measurement unit -","authors":"S. Sessa, M. Zecca, Zhuohua Lin, T. Sasaki, K. Itoh, A. Takanishi","doi":"10.1109/ICORR.2009.5209491","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209491","url":null,"abstract":"In our elderly-dominated society, there is considerable expectation for a growing need for home, medical, and nursing care services to assist this aging society, both from the physical and psychological points of view. Among these services, special importance has the rehabilitation process and specifically the clinical assessments of motor abilities. The current rehabilitation process, however, lacks of objectiveness. Our research is aimed at the development of a portable Bioinstrumentation System that can objectively measure and assess the physical and physiological effects of the rehabilitation therapy, both in the hospital/rehabilitation center and at home, by integrating the analysis of human motion into the analysis of physiological indexes. More specifically, objective of this research is to develop a wearable bioinstrumentation system capable of an objective analysis of the physical and psychological conditions of the user during the activities of daily life.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128416208","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: 14
An artificial reflex improves the perturbation-resistance of normal and spastic walking - A simulation study - 人工反射提高正常和痉挛行走的抗摄动能力-一项模拟研究
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209553
Y. Ikemoto, Wenwei Yu, J. Inoue
{"title":"An artificial reflex improves the perturbation-resistance of normal and spastic walking - A simulation study -","authors":"Y. Ikemoto, Wenwei Yu, J. Inoue","doi":"10.1109/ICORR.2009.5209553","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209553","url":null,"abstract":"Walking assist systems should cope with both the external perturbation caused by slips, uneven terrain, slopes, and obstacles, and local function impairment caused by internal factors, like spastic paralysis. It is known that humans are able to cope with these difficulties by different strategies. One is that in the case when external perturbation occurs, especially when the occurrence cannot be predicted or perceived in advance, humans rely on reflexes, which cause unconscious, relatively fixed muscular response patterns to perturbations within a short period of time. Another is that in the case of local function impairment, humans generally develop compensated gait to overcome the falling-down risky factors.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116651320","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
Remote rehabilitation - The NeXOS project: Lessons learnt and questions raised 远程康复- NeXOS项目:经验教训和提出的问题
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209633
D. Bradley, C. Acosta-Marquez, M. Hawley, S. Brownsell, P. Enderby, S. Mawson
{"title":"Remote rehabilitation - The NeXOS project: Lessons learnt and questions raised","authors":"D. Bradley, C. Acosta-Marquez, M. Hawley, S. Brownsell, P. Enderby, S. Mawson","doi":"10.1109/ICORR.2009.5209633","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209633","url":null,"abstract":"The NeXOS project was initially aimed at developing a low cost rehabilitation and physiotherapy system for the lower limbs which was capable of being deployed within a user's home environment. The design, development and implementation of the prototype system specifically identified the need to effectively manage the communications between the various members of the research team as well as the engagement with the target user groups. This led to the definition by the team of new means and methods of deployment for such systems. However, the lack of clear information regarding the market potential for systems such as NeXOS raised a number of generic questions relating to issues associated with the identification of the most effective use of technology. The paper sets out and considers the general issues associated with the design and implementation of the NeXOS prototype and then discusses the resulting generic issues and questions in the context of automated and robot approaches to physiotherapy as a whole.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116812672","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: 6
Design of a joint-coupled orthosis for FES-aided gait fes辅助步态关节耦合矫形器的设计
2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209623
R. Farris, Hugo A. Quintero, T. Withrow, M. Goldfarb
{"title":"Design of a joint-coupled orthosis for FES-aided gait","authors":"R. Farris, Hugo A. Quintero, T. Withrow, M. Goldfarb","doi":"10.1109/ICORR.2009.5209623","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209623","url":null,"abstract":"A hybrid functional electrical stimulation (FES)/orthosis system is being developed which combines two channels of (surface-electrode-based) electrical stimulation with a computer-controlled orthosis for the purpose of restoring gait to spinal cord injured (SCI) individuals (albeit with a stability aid, such as a walker). The orthosis is an energetically passive, controllable device which 1) unidirectionally couples hip to knee flexion; 2) aids hip and knee flexion with a spring assist; and 3) incorporates sensors and modulated friction brakes, which are used in conjunction with electrical stimulation for the feedback control of joint (and therefore limb) trajectories. This paper describes the hybrid FES approach and the design of the joint coupled orthosis. Preliminary experiments are presented which test the joint coupling concept and assess the extent of quadriceps fatigue imposed by the bias spring and joint coupling.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117036615","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: 25
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