2007 IEEE 10th International Conference on Rehabilitation Robotics最新文献

A Tele-Assessment System for Evaluating Elbow Spasticity in Patients with Neurological Impairments 评估神经损伤患者肘部痉挛的远程评估系统

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428533

Hyung‐Soon Park, Yi-Ning Wu, Y. Ren, Li-Qun Zhang

引用次数: 11

Recording experience with the thin-film Longitudinal Intra-Fascicular Electrode, a multichannel peripheral nerve interface 记录经验的薄膜纵向束内电极，一个多通道周围神经界面

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428525

K. Yoshida, M. Kurstjens, L. Citi, K. Koch, S. Micera

{"title":"Recording experience with the thin-film Longitudinal Intra-Fascicular Electrode, a multichannel peripheral nerve interface","authors":"K. Yoshida, M. Kurstjens, L. Citi, K. Koch, S. Micera","doi":"10.1109/ICORR.2007.4428525","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428525","url":null,"abstract":"This paper presents our experience evaluating a multi-channel peripheral nerve interface, the thin-film longitudinal intra-fascicular electrode (tfLIFE). One application for the tfLIFE is their potential use as a means to detect independent channels of volitional commands from the amputee. The neural interface would be required to be sufficiently selective to detect the activity of single motor nerve fibres within the nerve stump. Experiments were conducted in the acute rabbit model evaluate the recording characteristics of the tfLIFE array. Multiunit activity was recorded in response to mechanical stimulation of peripheral mechanoreceptors. In some channels in all experiments, large single unit spikes were clearly visible. These data were then processed to determine whether an artificial discriminator could be trained to detect and track activity from the multi unit recordings. We also tested whether inclusion of multi channel information could be used to improve the performance of the discriminator. Our preliminary results indicate the inclusion of multiple channels significantly improves the performance.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121816348","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

Iterative Learning Synchronization of Robotic Rehabilitation Tasks 机器人康复任务的迭代学习同步

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428447

A. Duschau-Wicke, J. von Zitzewitz, R. Banz, R. Riener

引用次数: 18

Characterization of the Dynamic Properties of Pneumatic Muscle Actuators 气动肌肉执行器动态特性的表征

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428511

Sivakumar Balasubramanian, J. Ward, Thomas G. Sugar, Jiping He

{"title":"Characterization of the Dynamic Properties of Pneumatic Muscle Actuators","authors":"Sivakumar Balasubramanian, J. Ward, Thomas G. Sugar, Jiping He","doi":"10.1109/ICORR.2007.4428511","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428511","url":null,"abstract":"The potential effectiveness and adoption of robotic assisted therapy for neural rehabilitation has attracted increased attention to the development of rehabilitation robots. Our research group had developed a lightweight exoskeletal rehabilitation robot actuated by pneumatic muscle actuators. To design a robust control system with intelligent adaptation to individual patient's condition is a challenge with pneumatic muscle actuators (PMA). The dynamics of a PMA is affected by dimension (length and diameter), pressure and load. Thus, it is crucial to choose the appropriate PMA with the desired dynamic response for each of the joints to be actuated. In this study, 2nd order phenomenological models have been developed to describe the dynamic behavior of nine pneumatic muscle actuators (3 different lengths and 3 different diameters). The important differences between these pneumatic muscle actuators are compared based on the model parameters. Some of the model parameters like relative muscle contraction, rise natural frequency are affected more by the PMA dimensions, while some of the other parameters are relatively unaffected by the dimensions of the PMA. In addition, analytical expressions were determined for the individual model parameters as functions of the input pressure and external load.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117146511","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: 22

Investigating Novel Point-select Techniques for Older People 研究老年人新的点选择技术

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428488

Nitin Williams, Faustina Hwang

引用次数: 2

Integration of an Intelligent Decision Support System and a Robotic Haptic Device for Eye-Hand Coordination Therapy 智能决策支持系统与手眼协调治疗机器人触觉装置的集成

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428439

N. Pernalete, Ramakrishna Gottipati, J. Grantner, S. Edwards, D. Janiak, J. Haskin, R. Dubey

{"title":"Integration of an Intelligent Decision Support System and a Robotic Haptic Device for Eye-Hand Coordination Therapy","authors":"N. Pernalete, Ramakrishna Gottipati, J. Grantner, S. Edwards, D. Janiak, J. Haskin, R. Dubey","doi":"10.1109/ICORR.2007.4428439","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428439","url":null,"abstract":"This paper is the continuation of a work presented at ICORR 05, in which the results of single-subjects studied suggested that the haptic robotic therapy proposed improved eye-hand coordination in children diagnosed with this problem, using a robotic mapping from a haptic user interface to a virtual environment. This paper presents the integration of the aforementioned system with an intelligent decision support system (IDSS) based on fuzzy-logic. Our goal is to develop an assessment and training procedure that will result in improving handwriting taking the advantage of the force feedback provided by the haptic device and the intelligence provided by the IDSS. We also incorporate the inertia and viscosity effects to decrease the tremor in the hand as well as to stimulate the muscles involved in the task of holding a pencil (known as facilitation technique in the Occupational Therapy field). The IDSS is based upon a fuzzy automaton. By using qualitative (fuzzified) data from the previous tests executed by the subject, the system will make a decision on the complexity of the next test to be performed. It is expected that this automated system will reduce the burden and the associated cost of having a trained professional present in all assessment/training sessions.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"45 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126754559","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: 8

Learning-based methods for the analysis of intralimb-coordination and adaptation of locomotor patterns in cerebellar patients 基于学习的方法分析小脑患者肢体内协调和运动模式的适应性

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428559

W. Ilg, R. Rorig, P. Thier, M. Giese

引用次数: 4

Some Key Problems for Robot-Assisted Movement Therapy Research: A Perspective from the University of California at Irvine 机器人辅助运动治疗研究的几个关键问题:来自加州大学欧文分校的观点

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428547

D. Reinkensmeyer, Jose A. Galvez, Laura Marchal, E. Wolbrecht, J. Bobrow

引用次数: 40

Task Based Kinematic Design of a Serial Robot for the Treatment of Vestibular Lithiasis 基于任务的前庭结石治疗系列机器人运动学设计

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428419

G. Berselli, R. Falconi, G. Vassura, G. Modugno

{"title":"Task Based Kinematic Design of a Serial Robot for the Treatment of Vestibular Lithiasis","authors":"G. Berselli, R. Falconi, G. Vassura, G. Modugno","doi":"10.1109/ICORR.2007.4428419","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428419","url":null,"abstract":"Benign Paroxymal Positional Vertigo and variants, collectively called \"vestibular lithiasis\", designate a common disorder caused by a malfunction of the inner ear. These pathologies are connected with the presence of dense particles within the semicircular canals which interfere with the sensing capabilities of angular velocity in the patient, causing nystagmus and vertigo. Some of these conditions can be treated by repositioning maneuvers physically done by the doctor that moves the head of the patient along different poses in space. Despite the fact that the treatment shows a success rate up to 80-90%, the failure rate remains highly significant and it is proven that precision repeatability and unlimited 360deg manoeuvrability can improve diagnostic and treatment potential for overcoming this kind of vertigo. In this paper the kinematic design of a serial robot that will execute repositioning maneuvers automatically is performed through a simplified task based kinematic design technique. The aim of the method is to find the minimum number of degrees of freedom to carry out a set of given tasks as well as the manipulator's topology and the Denavit-Hartenberg parameters. The proposed procedure firstly minimizes the number of degrees of freedom only and then a cost function connected to the total link length.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122678940","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: 2

Energy-Free Adjustment of Gravity Equilibrators Using the Virtual Spring Concept 利用虚拟弹簧概念对重力平衡器进行无能量调节

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428508

B. M. Wisse, W. van Dorsser, R. Barents, J. Herder

{"title":"Energy-Free Adjustment of Gravity Equilibrators Using the Virtual Spring Concept","authors":"B. M. Wisse, W. van Dorsser, R. Barents, J. Herder","doi":"10.1109/ICORR.2007.4428508","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428508","url":null,"abstract":"People with neuromuscular diseases often have limited muscle force, and many rely on mobile arm supports to move their arms. Most of these make use of static balancing, a useful concept to reduce the operating effort of mechanisms, where spring mechanisms are used to achieve a constant total potential energy, thus eliminating any preferred position. Once statically balanced, the mechanism can be moved virtually without operating energy. This allows the patients using an arm support to move their arms freely. In some cases it is desirable to adjust the balancer characteristic, for instance due to a change of payload when picking up an object. In all available arm support mechanisms this adjustment is associated with considerable mechanical effort, while clearly this application would benefit greatly from an energy-free adjustment. Recently several methods have been invented to adjust spring and linkage-based static balancers with no need for external energy, by conserving the total energy in the system. The technique discussed in this paper is based on substituting an initial spring by two substitute springs. The two substitute springs generate a virtual spring with the same spring properties as the initial spring, with one unique difference: the virtual spring can be elongated or shortened while no work is done. Consequently, no external energy is needed for the adjustment. A table-top demonstrator has been developed, showing the feasibility of the concept.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"359 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122767592","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: 30