2007 IEEE 10th International Conference on Rehabilitation Robotics最新文献_第2页

Developing an Intelligent Robotic Arm for Stroke Rehabilitation 一种用于脑卒中康复的智能机械臂

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428543

Li-Qun Zhang, Hyung‐Soon Park, Y. Ren

{"title":"Developing an Intelligent Robotic Arm for Stroke Rehabilitation","authors":"Li-Qun Zhang, Hyung‐Soon Park, Y. Ren","doi":"10.1109/ICORR.2007.4428543","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428543","url":null,"abstract":"Arm impairments in patients post stroke involve the shoulder, elbow and wrist simultaneously. Patients may develop spasticity and reduced range of motion (ROM) at the multiple joints with abnormal couplings between the multiple joints and between the multiple degrees of freedom (DOF). They may lose independent control of individual joints and coordination among the joints. This project is aimed at developing a whole arm intelligent rehabilitation robot capable of controlling the shoulder, elbow, and wrist individually and simultaneously while allowing trunk motions, with the following integrated features: 1) it has unique diagnostic capabilities to determine which joints and which DOFs have significant changes in the neuromechanical properties, which joints lose independent control, what are the abnormal couplings, and whether the problem is due to changes in passive muscle properties or active control capabilities; 2) based on the diagnosis, it stretches the spastic/deformed joints forcefully under intelligent control to loosen up the specific stiff joints/DOFs; 3) with the stiff joints loosened up, the patients practice voluntary functional movements with assistance from the robot to regain/improve their motor control capability; and 4) the outcome is evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"19 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":"122075791","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: 52

Initial patient testing of iPAM - a robotic system for Stroke rehabilitation 脑卒中康复机器人系统iPAM的初步患者测试

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428435

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

{"title":"Initial patient testing of iPAM - a robotic system for Stroke rehabilitation","authors":"A. Jackson, P. Culmer, S. Makower, M. Levesley, R. Richardson, A. Cozens, M. Williams, B. Bhakta","doi":"10.1109/ICORR.2007.4428435","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428435","url":null,"abstract":"iPAM is a dual robotic system currently being developed in the UK under a NHS New and Emerging Applications of Technologies (NEAT) grant. The aim of the system is to provide assistive upper-limb therapeutic excercise for post-stroke rehabilitation. iPAM features two co-ordinated, pneumatically-actuated robotic arms which attach to the patient's forearm and upper-arm to provide assistance, mimicking the intervention of a physiotherapist. The system design and manufacture has been completed and the robot installed at a local hospital (St Mary's, Leeds PCT, UK) inside a community rehabilitation unit. The controller is currently developed and 'tuned' to provide gravity compensation for robots, removing any potentially damaging loads on the patient arm. The control scheme has been tested in simulation and using a mechanical arm model to ensure safe operation. Two small scale trials have been conducted to assess two facets of the robot design; firstly the mechanical design of the system to unimpede normal arm movement and secondly, its ability to provide varying levels of lift to the patient's arm to increase range of movement. The former of these trials compares free arm movement in healthy volunteers and Stroke patients with that when attached to iPAM. The robot was configured to compensate for its own weight, so the human upper-limb was unloaded. It was found that the robot had no significant affect on movement patterns. The second group of patient trials evaluated the operation of various levels of assistance against gravity. Patients were asked to point to a target with varying degrees of 'lift' applied to their upper and lower arm. In those patients with significant upper-limb impairment it was found that higher values of 'lift' improved the extent of reach but altered the movement pattern. Results from the trials demonstrated the suitability of certain modes of operation depending on the severity of patient disability.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"1 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":"129467228","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: 37

Development of Neural Interfaces for Chronic Use in Neuromotor Prosthetics 神经运动假肢慢性应用神经接口的发展

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428549

D. Kipke, G. Gage, E. Purcell, J. Seymour, J. Subbaroyan, T. Marzullo

引用次数: 1

Rehabilitation robotics in Padua, Italy 意大利帕多瓦的康复机器人

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428445

A. Rossi, G. Rosati

{"title":"Rehabilitation robotics in Padua, Italy","authors":"A. Rossi, G. Rosati","doi":"10.1109/ICORR.2007.4428445","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428445","url":null,"abstract":"This paper presents the research activity in the field of rehabilitation robotics of the Robotics & Automation research group leaded by Prof. Aldo Rossi at the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy. Starting from the experience gained in the development of cable driven haptic displays, our research activity was devoted to the development of cable driven robots for upper limb rehabilitation of post stroke patients in the subacute phase. Two prototypes of such machines have been built so far, the NeReBot and the MariBot, which allow to implement robot-assisted passive exercises in a three dimensional working space. These robots use three driven cables to sustain the forearm of the patient and to guide him through the execution of the exercise. In both cases, the cables originate from an overhead structure. The first robot has been successfully tested in clinical environment, and the limitations arisen during clinical trials lead to the design of the second robot, which came up as an evolution of the first one. A third cable driven device is currently being designed. This robot will have a planar working space and will be suited to implement active-assisted exercises, targeting not only sub-acute patients but also chronic patients. Regarding the strategy of our group, a strong effort will be devoted to establish international collaborations with other research groups in the field of rehabilitation robotics. Secondly, in a medium-long term perspective we are attempting to open a new rehabilitation center in Padua specialized in robot-aided rehabilitation. In this way, we aim not only to enlarge the number of patients involved in clinical trials of the machines, but also to reduce the time-to-patient of our devices, which nowadays is quite long.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"350 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":"125627223","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: 4

Optimized artificial muscles for an inherently safe robotic arm 优化的人造肌肉为一个固有的安全机械手臂

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428556

J. Surentu, G. Tuijthof, J. Herder

引用次数: 6

Torque Sensor Free Power Assisted Wheelchair 无扭矩传感器助力轮椅

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428421

D. Petersson, J. Johansson, U. Holmberg, B. Åstrand

引用次数: 3

Biomechanical Design of a Powered Ankle-Foot Prosthesis 动力踝足假体的生物力学设计

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428441

S. Au, J. Weber, H. Herr

引用次数: 150

Passive therapeutic arm for pelvis support during FES supported gait treadmill training - a case study 在FES支持的步态跑步机训练中，被动治疗臂用于骨盆支持-一个案例研究

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428472

I. Cikajlo, P. Obreza, R. Šavrin, Z. Matjačić

引用次数: 1

Combining Immersive Virtual Environments with Robot-Aided Gait Training 结合沉浸式虚拟环境与机器人辅助步态训练

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428459

L. Lunenburger, M. Wellner, R. Banz, G. Colombo, R. Riener

引用次数: 13

Characterization of a New Type of Dry Electrodes for Long-Term Recordings of Surface-Electromyogram 一种用于长期记录表面肌电图的新型干电极的表征

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428523

Gonzalo A. Garcia, F. Zaccone, R. Ruff, S. Micera, Senior Member, Klaus-Peter Hoffmann, Paolo Dario

引用次数: 17