2007 IEEE 10th International Conference on Rehabilitation Robotics最新文献_第4页

Reduced Power Method: how to evoke low-bandwidth behaviour while estimating full-bandwidth dynamics 降低功率方法:如何在估计全带宽动态的同时唤起低带宽行为

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428483

W. Mugge, D. Abbink, F. V. D. Helm

{"title":"Reduced Power Method: how to evoke low-bandwidth behaviour while estimating full-bandwidth dynamics","authors":"W. Mugge, D. Abbink, F. V. D. Helm","doi":"10.1109/ICORR.2007.4428483","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428483","url":null,"abstract":"Many human motion control studies use system identification methods to estimate the human admittance (the frequency response function from force to position). Admittance was found to be affected by task instruction, environmental properties and perturbation properties. From literature it is known the frequency content (bandwidth) of the perturbation modulates the admittance, due to modulation of the reflexive feedback. However, reducing the perturbation bandwidth reduces the identifiable admittance bandwidth. Yet, the full dynamic range is necessary to understand the changes in control behaviour, and also to ensure accurate parametric fits of neuromusculoskeletal models to the estimated admittance. The goal of this study is to develop a perturbation signal that evokes low bandwidth control behaviour while it enables identification over the full admittance bandwidth. This study introduces the Reduced Power Method. Effectively, multisine torque perturbations are supplemented with reduced power (a small percentage of full power) beyond the perturbation bandwidth, large enough to allow accurate identification, and small enough not to influence control behaviour. The method was tested in an experimental study. The dynamic ankle control behaviour of subjects (n=10) was measured while performing a variety of tasks in face of continuous torque perturbations with and without the addition of reduced power. The estimated admittance varied substantially as a result of task instruction and perturbation bandwidth, but not as a result of the additional reduced power. In conclusion, the proposed method was successful in estimating the full dynamics of the admittance while the resulting control behaviour was adapted to the low-frequent full power perturbations.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"7 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":"121048142","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: 67

On the control of axonal outgrowing for the development of new sieve interfaces 轴突生长对新筛界面发育的控制

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428475

G. Ciofani, P. Sergi, J. Carpaneto, V. Raffa, A. Menciassi, P. Dario, X. Navarro, S. Micera

引用次数: 0

Automated Interpretable Membership Functions in Human Gait 人类步态中的自动可解释隶属函数

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428496

B. Betancourt, P.W. Kong, S. Gorripati, T. Sarkodie-Gyan

引用次数: 3

Assisted Control Mode for a Smart Wheelchair 一种智能轮椅辅助控制模式

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428422

G. Bourhis, M. Sahnoun

引用次数: 45

Task-Orientated Biofeedback System for the Rehabilitation of the Upper Limb 面向任务的上肢康复生物反馈系统

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428453

S. Kousidou, N. Tsagarakis, C. Smith, D. Caldwell

引用次数: 54

Structural Design of an Escort Type Rehabilitation Robot for Post-Stroke Therapies of Upper-Limb 一种用于脑卒中后上肢治疗的护航式康复机器人结构设计

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428564

K. Nagai, Y. Kojima, S. Yonemoto, T. Okubo, R. Loureiro, W. Harwin

引用次数: 10

Design of a Modular Arm Robot System based on Flexible Fluidic Drive Elements 基于柔性流体驱动元件的模块化手臂机器人系统设计

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428437

A. Kargov, H. Breitwieser, H. Klosek, C. Pylatiuk, S. Schulz, G. Bretthauer

引用次数: 16

Using a Robotic Gait Orthosis as Haptic Display - A Perception-Based Optimization Approach 用机器人步态矫形器作为触觉显示——一种基于感知的优化方法

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428410

M. Wellner, M. Guidali, J. Zitzewitz, R. Riener

{"title":"Using a Robotic Gait Orthosis as Haptic Display - A Perception-Based Optimization Approach","authors":"M. Wellner, M. Guidali, J. Zitzewitz, R. Riener","doi":"10.1109/ICORR.2007.4428410","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428410","url":null,"abstract":"The actuated gait orthosis Lokomat has been developed at University Hospital Balgrist for patients with impairments due to neurological or orthopedic lesions. To enhance rehabilitation with the Lokomat, patient-cooperative techniques have been developed. Patient-cooperative means that the technical system considers the patient intention and efforts rather than imposing any predefined movement or inflexible strategy. It is hypothesized that patient-cooperative techniques have the potential to improve the therapeutic outcome compared to classical rehabilitation strategies. One example for patient-cooperative techniques are immersive, multi-modal scenarios. They can provide task-specific feedback and are expected to increase patient's motivation to contribute. One interaction possibility is haptic feedback which can be provided by the gait orthosis to simulate interaction with solid objects. The work described here investigated the potential of the Lokomat to provide haptic feedback. Frequency response measurements under closed-loop conditions were conducted to determine the force and position bandwidths. The final goal was to develop an approach for haptic rendering and optimize its parameters with experiments. Optimization criteria were object hardness and stability during object contact. Results of the bandwidth measurements show that the angle bandwidth is 3 Hz (excitation angle amplitude: 3deg) and the force bandwidth 8 Hz (excitation force amplitude: 10 N). The implemented haptic approach combines an impulsive force component, a penalty force component, and a component for lateral friction force. Best results were achieved for a combination of sine shape impulse, spring constant K with 2000 N/m, and modified damping coefficient B with 300 Ns/m2.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"48 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":"115706815","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: 7

Neurobiological evaluation of thin-film longitudinal intrafascicular electrodes as a peripheral nerve interface 膜束内纵向电极作为周围神经界面的神经生物学评价

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428492

X. Navarro, N. Lago, M. Vivó, K. Yoshida, K. Koch, W. Poppendieck, S. Micera

引用次数: 35

Evaluation of the Collaborative Wheelchair Assistant System 协同轮椅辅助系统的评价

2007 IEEE 10th International Conference on Rehabilitation Robotics Pub Date : 2007-06-13 DOI: 10.1109/ICORR.2007.4428486

Qiang Zeng, Etienne Burdet, B. Rebsamen, C. Teo

引用次数: 23