2009 IEEE International Conference on Rehabilitation Robotics最新文献

{"title":"Design of a new lower extremity orthosis for overground gait training with the WalkTrainer","authors":"Y. Allemand, Y. Stauffer, R. Clavel, Roland Brodard","doi":"10.1109/ICORR.2009.5209585","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209585","url":null,"abstract":"A new set of lower limb orthoses was developed for the WalkTrainer project. This mobile reeducation device for paralyzed people allows overground gait training combining closed loop electrical muscle stimulation and lower limb guiding while walking. An active body weight support system offers precise body weight unloading during locomotion. A 6 DOF parallel robot moves the pelvis in any desired position and orientation. The lower extremity orthosis is composed of two key parts. First, a purely passive lightweight exoskeleton acts as the interface between the human leg and the machine. A 1 DOF knee orthotic joint is also designed to prevent hyperextension. Second, the active part - composed of a mechanical leg equipped with motors and sensors - is located behind each human leg, with its base fixed to the WalkTrainer base frame. The two kinematic chains are connected with appropriate linkages at the thigh and the ankle joint. Actuation of the hip, knee and ankle joints is thus provided for their flexion/extension axis. The active mechanism operates only within the sagittal plane and guides the ankle-foot subsystem. Thigh and shank add/abduction movements are possible and even essential since the pelvis moves in a 3D space. This achievement prevents the scissors effect while allowing natural walking motion at the other joints. This paper describes the design and development of the lower extremity orthosis. Starting from a biomechanical approach, the needed actuation and the mechanical structure are discussed as well as the interface between the patient and the robot.","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":"122106686","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}

{"title":"Effect of different training modes on ground reaction forces during robot assisted floor walking and stair climbing","authors":"S. Hussein, H. Schmidt, S. Hesse, J. Kruger","doi":"10.1109/ICORR.2009.5209488","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209488","url":null,"abstract":"The HapticWalker is a robotic walking simulator for neurological gait rehabilitation. The device is based on the end-effector principle, i.e. the patients' feet are fixed on two footplates, his trunk is secured via a suspension harness. The footplates (end-effectors) of the robot guide the feet of the patient on freely programmable trajectories. Currently two different training modes are provided for each foot trajectory on the HapticWalker. Firstly training trajectories based on real motion capture data can be used. Secondly the vertical center of mass (CoM) motion can be incorporated into the foot trajectory. The latter method leaves the absolute position of the CoM constant, while the relative movement between CoM and feet remains the same as in free walking. Thereby the vertical CoM motion can be actively supported by using a fixed passive suspension, any type of controlled body weight support will then be accomplished via force controlled footplates. To characterize the training on the machine in position controlled mode, muscle activities as well as ground reaction force data of healthy subjects were collected. This article presents preliminary results from the investigation of ground reaction force data of healthy subjects. Therefore data of 10 healthy subjects was used to compare HapticWalker training modes vs. free walking on level ground and upstairs without any assistive devices and the aforementioned two HapticWalker training modes against each other. Amplitude and timing of force peaks during heel strike, foot flat and push off in vertical ground reaction forces were used for the assessment. In spite of a footplate, which does not provide a separate metatarsal joint for relative motion between fore and hind foot, during heel strike and push off the known characteristic peaks at the beginning and the end of the stance phase can be clearly distinguished. Though compared to free walking a slower and premature rise and slower decline of ground reaction forces can be seen due to the stiff guidance of the feet in position controlled mode. No significant differences appeared between the two described HapticWalker training modes.","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":"123560564","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}

{"title":"FES artifact suppression for real-time tremor compensation","authors":"F. Widjaja, C. Shee, P. Poignet, W. T. Ang","doi":"10.1109/ICORR.2009.5209570","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209570","url":null,"abstract":"This paper will present an algorithm for reducing Functional Electrical Stimulation (FES) artifact in surface electromyography (sEMG) reading, implemented iteratively in a real time data acquisition system. The intended application is real time attenuation of pathological tremor in upper limb. The data acquisition card receives inputs from sEMG and accelerometer. The processed information is fed into FES system which stimulates the corresponding muscle to counteract the tremor. The algorithms proposed here are geared towards simplicity, as the system is targeted for testing the feasibility of real time pathological tremor compensation.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"9 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":"122259583","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}

{"title":"Developing a whole-arm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation","authors":"Y. Ren, Hyung‐Soon Park, Li-Qun Zhang","doi":"10.1109/ICORR.2009.5209482","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209482","url":null,"abstract":"There is a lack of enough attention to the patients' hand posture. When robots implement assistive training, patients are often asked to grip a handle tightly, which may induce strong hand muscle contractions with the hand at an abnormal posture. If we ignore proper control of the muscle tension of subject's hand, the flexibility of hand/fingers may decrease and the robot training may potentially cause abnormal muscle tone. On the other hand, since the patient's fingers are already in an abnormal posture, properly aligning the joint and making the robot easy to attach is important. However, an existing multi-DOF hand exoskeleton systems may be difficult for the patients to put it on. the purpose of this paper was to design a patient-friendly mechanism drive by a single motor and attached to the whole-arm rehab robot for the hand and finger opening and closing functions. Using our 8+2 DOF whole-arm robot including this hand opening and closing mechanism, a novel integrated rehabilitation is performed including 1) strenuous stretching of the MCP-thumb joints and other spastic joints of the upper limb; 2) active assistive exercise is provided to improve voluntary neuromuscular control by using robot-computer games with a griping task; 3) outcome evaluations including the cross-coupling torques between the fingers/thumb and the other joints during hand opening/closing and other upper limb movements.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"53 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":"122326453","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}

{"title":"Novel home-based rehabilitation device to prevent secondary diseases for patients with spinal cord injury","authors":"N. Kawashima, R. Suzuki, K. Nakazawa, Y. Ohta","doi":"10.1109/ICORR.2009.5209546","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209546","url":null,"abstract":"The purpose of this study was to develop a rehabilitation device for preventing deterioration of the neuromuscular system in patients with spinal cord injury (SCI). Specifically, motorized footrests that could generate passive motion in paralyzed ankles were devised for use with a wheelchair. We here show the concept and structure of our developed device, and confirmed its effectiveness through physiological evaluation. The proposed device used a pair of linear electric actuators attached to the wheelchair frame at one end and the backside of the foot rest at the other end. The vertical motion of the linear actuator translated into rotational motion about the ankle joint. The developed device had the following features: 1) easy to use at home and 2) easy to install on a variety of manual and electric wheelchairs. To test the effectiveness of the developed device, electromyographic activity, muscle oxygenation and circulation in the paralyzed muscles were evaluated in eight individuals with motor complete SCI. As a result, we found that the passive ankle motion could induce rhythmical muscular activity, alteration in the muscle oxygenation level, and enhancement of the blood flow in the calf muscles. The device developed in this study has a very simple structure and is very effective in generating rhythmic movement in paralyzed ankles. Furthermore, the results obtained from the physiological assessments suggested that passive ankle motion could enhance not only the muscle neuronal activity but also the muscle circulatory conditions. Therefore, the developed device seems to be a useful and effective tool for rehabilitation in individuals with SCI.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"61 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":"130327417","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}

{"title":"Safe and compliant guidance in robot-assisted gait rehabilitation using Proxy-based Sliding Mode Control","authors":"P. Beyl, M. Van Damme, P. Cherelle, D. Lefeber","doi":"10.1109/ICORR.2009.5209505","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209505","url":null,"abstract":"Research in robot-assisted gait rehabilitation has seen significant improvements in human-robot interaction, thanks to high performance actuator technologies and dedicated control strategies. In this context we propose a combination of lightweight, intrinsically compliant, high power actuators (Pleated Pneumatic Artificial Muscles, PPAMs) with safe and adaptable guidance along a trajectory by means of Proxy-based Sliding Mode Control (PSMC). Treadmill walking experiments performed by a healthy subject wearing a powered knee exoskeleton indicate two main challenges: synchronizing the compliant device and the subject, and tuning the control parameters in view of safe guidance. The exoskeleton is able to compliantly guide the test person's knee along various target trajectories, while ensuring a smooth response to large perturbations.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"95 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":"127077626","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}

{"title":"Feasibility study of a new powered humeral rotator for upper limb myoelectric prostheses","authors":"R. Caminati, M. Troncossi, A. Davalli, V. Parenti-Castelli","doi":"10.6567/IFTOMM.14TH.WC.OS13.110","DOIUrl":"https://doi.org/10.6567/IFTOMM.14TH.WC.OS13.110","url":null,"abstract":"Current commercial upper limb prostheses could be inadequate to satisfactorily rehabilitate those patients with a high level amputation that require a high functional autonomy in the everyday living. The aim of the study presented in this paper is the design of a new powered humeral rotator to be introduced in the current upper limb prosthesis available at our labs, which is also provided with a powered shoulder articulation having two degrees of freedom. Kinematic and kinetostatic analyses were carried out for determining the reference technical specifications and guiding the design of the new rotator. This paper outlines the main steps of the feasibility study of the new device.","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":"127143770","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}

{"title":"Time course of abnormal synergies of stroke patients treated and assessed by a neuro-rehabilitation robot","authors":"P. Kung, Chou-Ching K. Lin, M. Ju, Shu-Min Chen","doi":"10.1109/ICORR.2009.5209628","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209628","url":null,"abstract":"This study aimed at investigating and quantifying the time course of abnormal synergies in the affected upper limbs of chronic stroke patients treated with a neuro-rehabilitation robot. Eight age-matched normal and seven chronic stroke patients were recruited to perform rectilinear tracking movements in four directions for four months. Kinematic, kinetic and electromyographic (EMG) data were used to develop two biomechanical indices and one EMG assessment index from principal component analysis (PCA) to characterize abnormal synergies. Initially, compared with those in normal subjects, the correlation between the elbow angle and forearm pro-supination torque was smaller, the variation of the forearm torque was larger and the abnormal co-contraction of the elbow and shoulder muscles, shown by the coactivation ratio derived from EMGs, was similar for the stroke patients. The correlation increased, the variation decreased and the coactivation ratio decreased with the time course of treatment. In summary, the proposed assessment indices indicated significant improvement of abnormal synergies after four months of treatment with the robot.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"43 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":"129748238","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}

{"title":"Gait Variability while walking with three different speeds","authors":"Huiying Yu, J. Riskowski, R. Brower, T. Sarkodie-Gyan","doi":"10.1109/ICORR.2009.5209486","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209486","url":null,"abstract":"Gait Variability is defined as changes in gait parameters from one stride to the next. Gait variability increases in individuals affected by neurodegenerative conditions such as Parkinson's disease and Huntington disease, and also with falls in the elderly and incident mobility disability. In this work, we study speed-related and age-related gait variabilities in healthy adults. Ten participants, five females (three young and two middle-aged) and five males (three young and two middle-aged) were recruited to walk on an instrumented treadmill for three minutes in this study. The gait variables (stride length, stride width, stride time and stride velocity) were extracted and processed from camera motion system. Results: slow speed walking increased gait variability with all gait variables; only stride width variability was increased significantly in middle aged subjects compared with the young subjects (p≪0.05), there were no changes in other variables. Based on gait variability differences in age, height and body mass, we propose to design a knowledge-base membership function of gait variability for all the related gait variables with different heights and weights (BMI) as cofactors in each age group. An automatic diagnostic tool, Fuzzy Inferential Reasoning system, will help the clinician to identify pathological impairment from normal.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"24 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":"129018081","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}

{"title":"Progress towards the development of the SmartHand transradial prosthesis","authors":"C. Cipriani, M. Controzzi, M. Carrozza","doi":"10.1109/ICORR.2009.5209620","DOIUrl":"https://doi.org/10.1109/ICORR.2009.5209620","url":null,"abstract":"This paper presents progress towards the development of an anthropomorphic 16 degree of freedom, 4 degree of mobility prosthetic hand for use by transradial amputees, named SmartHand. The hand is provided with 40 proprioceptive and exteroceptive sensors in the fingers and with a customized control architecture embedded in the palm. The compact size and weight will allow its use to a wide range of amputees in the near future. This paper shows the design and development of the mechanical structure, control architecture, communication protocol developed to deal with the hand, and briefly presents the sensor set embedded in the fingers. Joint sensors plots while a finger was closing at full speed demonstrate hand functionalities in terms of sensory, control and actuation systems. Finally a non-invasive user-prosthesis interface that could be directly connected to the SmartHand for shared control experiments is briefly presented.","PeriodicalId":189213,"journal":{"name":"2009 IEEE International Conference on Rehabilitation Robotics","volume":"80 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":"129198144","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}