2009 IEEE International Conference on Rehabilitation Robotics最新文献_第5页

A mobile gait monitoring system for gait analysis 用于步态分析的移动步态监测系统

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209621

J. Bae, Kyoungchul Kong, N. Byl, M. Tomizuka

引用次数: 52

A robotic toy for children with special needs: From requirements to design 为有特殊需要的儿童设计的机器人玩具:从要求到设计

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209500

Marti Patrizia, Moderini Claudio, Giusti Leonardo, Pollini Alessandro

{"title":"A robotic toy for children with special needs: From requirements to design","authors":"Marti Patrizia, Moderini Claudio, Giusti Leonardo, Pollini Alessandro","doi":"10.1109/ICORR.2009.5209500","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209500","url":null,"abstract":"This article presents the design process of Iromec, a modular robot companion tailored towards engaging in social exchanges with children with different disabilities with the aim to empower them to discover a wide rage of play styles from solitary to social and cooperative play. In particular this paper describes the design process from the elicitation of user requirements related to three main target users - Autistic children, Moderate Mentally Retarded children and Severe Motor Impaired children - to the robot design, highlighting problems and challenges encountered to meet and reconcile heterogeneous needs of disabled children. Modularity and configurability are the key features of the robot: the use of plug&play application modules, the coating components and add-on elements contribute to the flexibility of the system in creating rewarding games that can be easily understood by the child and can promote fun and learning. Other key features of the system are the combination of autonomous and user-controlled behaviour and a strong emphasis on identity and expressiveness that can be dynamically adapted during play. A main contribution of this work is that it does not just focus on the engineering aspects of robotic design, but it is primarily guided by learning and therapeutic issues and centred on the final user.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"118 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":"127328328","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: 46

A virtual environment-based paradigm for improving attention in TBI 基于虚拟环境的颅脑损伤注意力改善模式

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209629

A. Dvorkin, F. Zollman, Kathleen Beck, E. Larson, J. Patton

{"title":"A virtual environment-based paradigm for improving attention in TBI","authors":"A. Dvorkin, F. Zollman, Kathleen Beck, E. Larson, J. Patton","doi":"10.1109/ICORR.2009.5209629","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209629","url":null,"abstract":"Attention deficits are one of the most profound problems facing the traumatic brain injured individual. The Traumatic Brain Injury (TBI) inpatient population in the rehabilitation unit is difficult to study with new technology because it is often very difficult to render and evaluate such interventions in the short time span when a patient is still in the hospital, even though that is precisely the time when clinical attentional therapy is considered most critical. We developed and performed a preliminary test of a haptic/graphic paradigm for improving attention and concentration in early stages of recovery in the TBI inpatient population. Six TBI patients and three healthy controls were exposed to a minimal distraction/minimal interaction environment while reaching for a visual target. Our initial results showed (1) the subjects tolerated the experience, (2) the number of targets acquired in successive one-minute intervals indicated a sustained attention for the task, and (3) haptic interaction in such an environment was well tolerated, engaging, and enjoyable -- often considered a game. These findings have provided the foundation for a larger, intensive, protracted study with repeated treatment.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"36 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":"116847992","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

Soft fluidic actuators of rotary type for safe physical human-machine interaction 用于安全物理人机交互的旋转式软流体执行器

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209571

O. Ivlev

{"title":"Soft fluidic actuators of rotary type for safe physical human-machine interaction","authors":"O. Ivlev","doi":"10.1109/ICORR.2009.5209571","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209571","url":null,"abstract":"Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent compliance, high back-driveability and light-weight design build a foundation for safe physical human-machine interaction, although torques of several tens of Newton-meter can be generated. Due to their compact design the REC-actuators demonstrate better integration capabilities into complex kinematic structures than conventional fluidic muscles of linear type. The actuator compliance can be varied by pressure regulation in antagonistic acting chambers, which makes soft fluidic actuators very suitable for making the transition from continuous passive motion to active (assistive) behaviour during the therapy depending on a patient activity. Conceptual design of modular compact assistive motion therapy devices based on new “slim-line” REC-actuators is presented.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"105 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":"117205272","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

Estimation of finger joint angles from sEMG using a recurrent neural network with time-delayed input vectors 基于递归神经网络的手指面肌电信号关节角度估计

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209609

M. Hioki, Haruhisa Kawasaki

引用次数: 26

Design of a single-dof active hand orthosis for neurorehabilitation 用于神经康复的单自由度主动手部矫形器的设计

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209552

G. Rosati, S. Cenci, G. Boschetti, D. Zanotto, S. Masiero

引用次数: 19

An approach to sensor fusion in medical robots 一种医疗机器人传感器融合方法

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209492

J. Avor, T. Sarkodie-Gyan

{"title":"An approach to sensor fusion in medical robots","authors":"J. Avor, T. Sarkodie-Gyan","doi":"10.1109/ICORR.2009.5209492","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209492","url":null,"abstract":"This paper proposes a multi-sensor data fusion technique to determine the complex interactions between the sensory, muscular and mechanical components of the human locomotor systems (neuromechanics). We investigated the use of an array of accelerometers, rate gyroscopes, force plates and electromyogram for the assessment of x-y-z components of the hip, thigh, shank and foot acceleration and velocity in the sagittal plane. The objective here is to determine the impact factor each body segment's acceleration has in terms of producing a functional gait. Six able-bodied subjects were employed in this experiment; and subject walked at three different speeds and his/her dynamic/kinematic behaviors of the lower limb recorded with the sensors afore mentioned. Eight distinct gait variability for each subject recorded was detected by our sensing system. Fuzzy fusion technique was employed to evaluate the empirical results and the output matrix shows the relation between the body segments in question in terms of their x-y-z acceleration components. The implementation of this fusion matrix will enhance modeling and building medical robots intended for paraplegic rehabilitation as well as intelligent mobile robots for effective industrial manufacturing.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"10 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":"121050776","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: 15

Impact of visual error augmentation methods on task performance and motor adaptation 视觉误差增强方法对任务表现和运动适应的影响

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209632

O. Celik, D. Powell, M. O'Malley

{"title":"Impact of visual error augmentation methods on task performance and motor adaptation","authors":"O. Celik, D. Powell, M. O'Malley","doi":"10.1109/ICORR.2009.5209632","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209632","url":null,"abstract":"We hypothesized that augmenting the visual error feedback provided to subjects training in a point-to-point reaching task under visual distortion would improve the amount and speed of adaptation. Previous studies showing that human learning is error-driven and that visual error augmentation can improve the rate at which subjects decrease their trajectory error in such a task provided the motivation for our study. In a controlled experiment, subjects were required to perform point-to-point reaching movements in the presence of a rotational visual distortion. The amount and speed of their adaptation to this distortion were calculated based on two performance measures: trajectory error and hit time. We tested how three methods of error augmentation (error amplification, traditional error offsetting, and progressive error offsetting) affected the amount and speed of adaptation, and additionally propose definitions for “amount” and “speed” of adaptation in an absolute sense that are more practical than definitions used in previous studies. It is concluded that traditional error offsetting promotes the fastest learning, while error amplification promotes the most complete learning. Progressive error offsetting, a novel method, resulted in slower training than the control group, but we hypothesize that it could be improved with further tuning and indicate a need for further study of this method. These results have implications for improvement in motor skill learning across many fields, including rehabilitation after stroke, surgical training, and teleoperation.","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":"129026033","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

Clinical evaluation of a low-cost alternative for stroke rehabilitation 卒中康复低成本替代方案的临床评价

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209526

L. Sucar, R. Leder, Jorge Hernández, I. Sánchez, Gildardo Azcárate

{"title":"Clinical evaluation of a low-cost alternative for stroke rehabilitation","authors":"L. Sucar, R. Leder, Jorge Hernández, I. Sánchez, Gildardo Azcárate","doi":"10.1109/ICORR.2009.5209526","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209526","url":null,"abstract":"Stroke is the main cause of disabilities in the world and is typically treated with intensive, hands-on physical and occupational therapy for several weeks after the initial injury. However, due to economic pressures, stroke patients are receiving less therapy and going home sooner, so the potential benefit of the therapy is not completely realized. Thus, it is important to develop rehabilitation technology that allows individuals who had suffered a stroke to practice intensive movement training without the expense of an always-present therapist. Although several robotic devices have been developed for stroke rehabilitation, these are too expensive for use at home or in small clinics.We have developed a low-cost alternative that allows stroke survivors to practice arm movement exercises at home or at the clinic, with periodic interactions with a therapist. The system integrates a virtual environment for facilitating repetitive movement training, with computer vision algorithms that track the hand of a patient, using an inexpensive camera and a conventional personal computer. This system, called Gesture Therapy, has been evaluated in a controlled clinical trial at a hospital in Mexico City, comparing it with conventional occupational therapy. The results show that both treatments improve the functionality of the affected upper extremity, with not significant difference between them. However, the patients that used the virtual environment have a greater motivation and attachment to the treatment, which in the long term are decisive for maximal recovery.","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":"128425106","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: 28

Enhancing exploratory learning behaviour in people with stroke undertaking iPAM robot assisted upper limb exercises 通过iPAM机器人辅助上肢锻炼增强脑卒中患者的探索性学习行为

2009 IEEE International Conference on Rehabilitation Robotics Pub Date : 2009-06-23 DOI: 10.1109/ICORR.2009.5209556

P. Culmer, A. Jackson, S. Makower, R. Richardson, J. Cozens, M. Levesley, B. Bhakta

引用次数: 2