2009 IEEE International Conference on Rehabilitation Robotics最新文献_第2页

Rehabilitation of grasping and forearm pronation/supination with the Haptic Knob 触觉旋钮对抓握和前臂旋前/旋后的康复

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209520

O. Lambercy, L. Dovat, Hong Yun, S. Wee, C. Kuah, K. Chua, R. Gassert, T. Milner, C. Teo, E. Burdet

引用次数: 35

Robotic assistance with attitude: A mobility agent for motor function rehabilitation and ambulation support 机器人姿态辅助:用于运动功能康复和行走支持的移动代理

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209523

J. V. Miró, V. Osswald, M. Patel, G. Dissanayake

{"title":"Robotic assistance with attitude: A mobility agent for motor function rehabilitation and ambulation support","authors":"J. V. Miró, V. Osswald, M. Patel, G. Dissanayake","doi":"10.1109/ICORR.2009.5209523","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209523","url":null,"abstract":"This paper presents the design of an intelligent walking aid for the frail and elderly as well as for patients who are recovering from surgical procedures, in order to enhance safer mobility for these study populations. The device augments a conventional rolling walker aid with sensing and navigational abilities to safely travel through an environment following user's perceived intentions, unless collisions or instability is imminent. The agent, embodied as a Partially Observable Markov Decision Process (POMDP), critically relies on minimal user input to seamlessly recognise user's short-term intended behaviour, constantly updating this projection to allow for inconspicuous user-robot integration. This, in turn, shifts user's focus from fine motor-skilled control to coarse indications broadly intended to convey intention. Overall, the system can afford an increase in safety for the cognitive user through preventative care - reduced number of falls or collision with surrounding objects, minimising health-care expenses as well as increasing independent living for people with gait disorders. Successful simulation and experimental results demonstrate the validity of the proposed architecture for a practical robotic rollator design.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"29 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":"132031053","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

Intermanual transfer of learning reveals representations in simultaneous extrinsic and intrinsic coordinate systems 学习的手间迁移在同时存在的外在和内在坐标系中表现出来

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209532

Amit B. Meghani, J. K. Burgess, J. Patton

{"title":"Intermanual transfer of learning reveals representations in simultaneous extrinsic and intrinsic coordinate systems","authors":"Amit B. Meghani, J. K. Burgess, J. Patton","doi":"10.1109/ICORR.2009.5209532","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209532","url":null,"abstract":"Recent research on learning and recovery in rehabilitation has raised questions about the manner in which the nervous system stores and recalls memories of skills learned. This is functionally important when an individual is asked to generalize what was learned to a different movement direction, another part of the workspace, or with the opposite hand. Subjects underwent training in Cartesian force field (Saddle type field) in a training workspace. This experiment built upon other approaches by testing before and after training in a new workspace and with the opposite hand in the presence of both extrinsic (Cartesian-based) and intrinsic (joint-based) force fields. Results show that training led to clearly better performance improvements in the extrinsic coordinate system, and also suggest that subjects are influenced by a joint based force field when they are asked to transfer their knowledge their opposite arm. These results suggest that there are multiple simultaneous representations of the training experience in the nervous system that subjects can recall when asked to generalize. These results may be important to the design of future rehabilitation regimens that optimize the training coordinate systems for the best chances of restoration of function.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"19 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":"132487141","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

Controlling an automated wheelchair via joystick/head-joystick supported by smart driving assistance 通过智能驾驶辅助系统支持的摇杆/头摇杆控制自动轮椅

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209506

T. Rofer, C. Mandel, Tim Laue

引用次数: 79

Gait and neuromuscular learning effects through the use of a gait monitoring system 步态和神经肌肉学习效果通过使用步态监测系统

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209596

J. Riskowski

{"title":"Gait and neuromuscular learning effects through the use of a gait monitoring system","authors":"J. Riskowski","doi":"10.1109/ICORR.2009.5209596","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209596","url":null,"abstract":"The repetitive nature of walking can lead to joint stress and associated complications due to the rate of loading (ROL) experienced with each step. Previous research suggests that an individual's gait kinematics at initial contact gives rise to the ROL, and a repetitive, high ROL may lead to several disorders, including osteoarthritis. In this study, we investigated the short-term learning effects of using a gait monitoring system to change an individual's gait pattern and reduce the ROL. Twelve healthy women participated in the study, and we analyzed the gait characteristics pre- and post-training with the gait monitoring system. Subjects also underwent a pre-post assessment to explore the short-term changes in proprioceptive acuity that resulted from this type of training. Our results indicate that using a gait monitoring system can effectively change the gait kinematics, leading to a reduced ROL experienced, and can increase proprioceptive acuity. These findings suggest that a gait monitoring system has the potential to decrease the risk of certain joint degenerative diseases, and future long-term studies are needed to explore the gait adaptations that occur through this type of training.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"14 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":"134107230","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

Discussion of sling control simulation in feedback type Gait Training System 反馈式步态训练系统中吊带控制仿真的探讨

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209569

H. Ikeuchi, Singo Takiyama, Iha Mamoru, Yukio Saito

引用次数: 2

Validation of a smooth movement model for a human reaching task 人类到达任务的平滑运动模型验证

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209634

J. Huegel, A. J. Lynch, M. O'Malley

{"title":"Validation of a smooth movement model for a human reaching task","authors":"J. Huegel, A. J. Lynch, M. O'Malley","doi":"10.1109/ICORR.2009.5209634","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209634","url":null,"abstract":"This paper presents the experiment design, results, and analysis of a human user study that tests and validates the minimum hand jerk (MHJ) model for a human forearm reaching movement task when manipulating a multi-mass object. This work validates and extends prior work that demonstrated the MHJ criteria, a mathematical approach to human movement modeling, more accurately represents movements with multi-mass objects than the alternate optimally smooth transport (OST) model. To validate the prior work, we developed a visual and haptic virtual environment with a five-mass system with friction connected by springs and viscous dampers. The point to point reaching task we implemented required participants to move their hand with the set of masses to a target position, thereby generating movement profiles for analysis. Our experimental design uniquely extends the application of the MHJ criteria to forearm pronation movements and our results show that the MHJ model holds. Our extension to forearm movements and the more general MHJ criteria are economic models of human movements applicable to fields such as computer animation and virtual environments.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"68 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":"131293632","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: 9

Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties 主动上肢外骨骼机器人的机械设计:现状与设计难点

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209630

R. A. R. C. Gopura, K. Kiguchi

引用次数: 170

Safe robot therapy: Adaptation and usability test of a three-position enabling device for use in robot mediated physical therapy of stroke 安全机器人治疗:一种用于机器人介导的中风物理治疗的三位置使能装置的适应性和可用性测试

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209481

A. Toth, David Nyitrai, M. Jurak, Istvan Merksz, G. Fazekas, Z. Dénes

{"title":"Safe robot therapy: Adaptation and usability test of a three-position enabling device for use in robot mediated physical therapy of stroke","authors":"A. Toth, David Nyitrai, M. Jurak, Istvan Merksz, G. Fazekas, Z. Dénes","doi":"10.1109/ICORR.2009.5209481","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209481","url":null,"abstract":"Safe therapeutic robot systems must be equipped with, among other, safety devices and enabling devices. Enabling devices were developed first for the operators of industrial systems for ensuring the safety thresholds during a short term presence in the safeguarded area. On the contrary, enabling devices for therapy robots must be continuously operated by the patients during the treatment session to permit therapy. The enabling devices used in therapy robotics, and in the broader sense rehabilitation robotics must adhere to different requirements than their industrial versions. The authors review the current legal framework that should be considered during the development of therapy robots. The authors analyze also the safety technologies used in key existing therapy robot systems. The central part of the paper describes the adaptation of an industrial three-position enabling device to the requirements of stroke upper limb therapy. The new device is intended to use with the REHAROB that is a robotic system for upper limb physiotherapy. The usability of the three-position enabling device was tested by 9 healthy volunteers and by 12 hemiparetic subjects with success.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"308 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":"124388793","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: 9

Mental health evaluation using chemical sensor as human-machine interface 以化学传感器为人机界面的心理健康评价

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209593

Y. Tahara, Takayuki Takahashi, K. Takeda, T. Miyoshi, M. Yamaguchi

引用次数: 1