2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第4页

Sensor evaluation for soft robotic hand rehabilitation devices 软性机械手康复装置的传感器评价

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523797

Dong Hyun Kim, Sang Wook Lee, Hyung‐Soon Park

引用次数: 13

Fabrication and modeling of temperature-controllable artificial muscle actuator 温度可控人造肌肉驱动器的制作与建模

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523604

K. Cho, M. Song, H. Jung, S. Yang, H. Moon, J. Koo, J. Nam, Hyoukryeol Choi

引用次数: 41

Design and manufacturing concept of a postoperative adjustable prosthesis for ossicular chain reconstructions 听骨链重建术后可调节假体的设计与制造概念

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523767

Ismail Kuru, Martina Roth, F. Ferrer, Y. Krieger, T. Lenarz, H. Maier, T. Lüth

引用次数: 0

The characterization of the kinematic and dynamic properties of the ankle joint for an artificial ankle joint design 对踝关节的运动学和动力学特性进行表征，用于人工踝关节的设计

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523710

A. Gmerek, N. Meskin, E. Sobhani-Tehrani, R. Kearney

引用次数: 2

Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy 主动A- gear的设计与控制:一种用于成人杜氏肌营养不良症的可穿戴5自由度手臂外骨骼

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523697

Peter N. Kooren, J. Lobo-Prat, A. Keemink, M. Janssen, A. Stienen, I. Groot, M. Paalman, R. Verdaasdonk, B. Koopman

{"title":"Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy","authors":"Peter N. Kooren, J. Lobo-Prat, A. Keemink, M. Janssen, A. Stienen, I. Groot, M. Paalman, R. Verdaasdonk, B. Koopman","doi":"10.1109/BIOROB.2016.7523697","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523697","url":null,"abstract":"Adults with Duchenne muscular dystrophy (DMD) can benefit from active arm supports that augment the residual motion capabilities of their arms. While there is a considerable number of active exoskeletons commercially available for rehabilitation purposes, no active exoskeletons for supporting the arm function during the performance of activities of daily living (ADL) are available. In this paper, we present the Active A-gear, a wearable five degree-of freedom exoskeleton that has been specially developed to assist people with DMD for the performance of ADL. The Active A-Gear is built upon our previous design of the passive A-Gear, thus combining active and passive support. The Active A-Gear can be controlled using force-based (admittance) control. We report the results of the system verification, which included endpoint position bandwidth, workspace, weight, joint speed, endpoint force and joint backlash measurements. A pilot evaluation was carried out with one healthy subject (27 years-old) performing ADL. The results of the verification and evaluation tests indicate that with some modifications the Active A-Gear is a suitable platform to test the functional performance and feasibility of a wearable and active support for adults with DMD.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130836267","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: 18

Feasibility of photoacoustic image guidance for telerobotic endonasal transsphenoidal surgery 光声图像引导远程机器人经鼻蝶窦手术的可行性

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523673

Sungmin Kim, Youri Tan, P. Kazanzides, M. Bell

{"title":"Feasibility of photoacoustic image guidance for telerobotic endonasal transsphenoidal surgery","authors":"Sungmin Kim, Youri Tan, P. Kazanzides, M. Bell","doi":"10.1109/BIOROB.2016.7523673","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523673","url":null,"abstract":"Injury to the internal carotid arteries during the minimally invasive procedure to remove pituitary tumors (i.e., endonasal transsphenoidal surgery) could have many severe complications, including patient death. While preoperative CT or MR images are available to assist with navigation, the location of these arteries may be uncertain during surgery due to registration errors and intraoperative changes. Ideally, the surgeon should be able to visualize these arteries in real-time, even though they are behind the bone being drilled. We are therefore exploring the feasibility of a novel photoacoustic image-guided telerobotic system to measure the location of the artery with respect to the drill tip and to accurately visualize the spatial relationship between the artery and drill tip with respect to the imaging system components (i.e., the optical fiber attached to the drill and the ultrasound transducer). The potential system accuracy was evaluated in a two-stage approach that includes gross localization of the vessel center, followed by refinement with an image-based algorithm. This method was tested with a research-based da Vinci Surgical System, simulated photoacoustic data, and experimental data, revealing mean absolute errors of 1.89±0.93 mm and 0.3±0.2 mm for gross and fine positioning, respectively. Results are promising for surgeons to visualize the internal carotid arteries and thereby avoid injury with a teleoperative robotic approach.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130923038","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: 16

Autocorrelation analysis of lower limb EMG signals for the initial evaluation of hemiparetic gaits 下肢肌电信号的自相关分析对偏瘫步态的初步评估

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523755

Ping-lu Wang

{"title":"Autocorrelation analysis of lower limb EMG signals for the initial evaluation of hemiparetic gaits","authors":"Ping-lu Wang","doi":"10.1109/BIOROB.2016.7523755","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523755","url":null,"abstract":"In order to investigate evaluation methodology for hemiparetic gaits on rehabilitation purpose, volunteering subjects are recruited on the standardized walking trials. EMG signals are collected from six muscle groups on each lower limb. Improved autocorrelation analysis combined with gait analysis is then proposed. As the completion of gait cycle is described by percentage, gait quality is evaluated by the periodic characteristics and the peak value occurs on 100 %, 200%, 300%, and 400% of gait cycles from zero phase that are recorded. The similarities are assessed by specific number from 0 to 1.0, and the more approach to 1.0, the higher similarity is represented. Then the function of balance control ability is assessed between left and right sides. The resulting evaluation of gait qualities are initially assessed based on measuring and numerical outcome. The effect of the proposed method is verified by a case study as it is clearly agreed with the qualitative evaluation obtained from clinical professionals. More clinical studies will be carried out to further confirm the effectiveness of this proposed method. The proposed evaluation methodology could also be potentially used as the bio-feedback for the robotic-assisted rehabilitation in future.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130410972","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: 6

Serious game development for Ankle rehabilitation aiming at user experience 以用户体验为目标的踝关节康复游戏开发

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523762

Thales B. Pasqual, G. Caurin, A. Siqueira

{"title":"Serious game development for Ankle rehabilitation aiming at user experience","authors":"Thales B. Pasqual, G. Caurin, A. Siqueira","doi":"10.1109/BIOROB.2016.7523762","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523762","url":null,"abstract":"This article proposes an approach to adapt a game to ankle movement for a rehabilitation mechanism. Thus, a game was developed for ankle rehabilitation, which is inspired in the commercial version, already used with the AnkleBot (by Interactive Motion Technologies - IMT), changing both aesthetics and gameplay characteristics aiming a more intuitive and softer gameplay, improving the game experience. The movement underwent a transformation from elliptical motion, performed by the ankle, to game's rectangular workspace, better exploiting subject's movement features. For the assistance-resistance behavior the robot imposes to the user, a similar change was implemented converting a rectangular constraint to an elliptical one. These changes avoided motion discontinuity sensations to the user and provided a consistent motion for the ankle movement. Initial tests with a healthy subject showed that it is possible to adapt the game drive to the ankle movement through this mathematical transformation, better exploiting the player movement space and a smooth robot cooperation behavior, with movements more intuitive. System calibration is performed runtime, which allows not only the game to adjust itself for each patient, but also to adjust for every new achievement in patient's movement.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130462324","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

Design and prototyping of a concentric wire-driven manipulator 同心线驱动机械手的设计与原型制作

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523624

Zheng Li, Chengzhi Song, Hongmin Wang

引用次数: 2

Design of adaptive haptic-enabled virtual reality based system for upper limb movement disorders: A Usability Study 基于自适应触觉的虚拟现实上肢运动障碍系统设计:可用性研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523803

Ashish Dhiman, Dhaval Solanki, A. Bhasin, A. Bhise, Abhijit Das, U. Lahiri

{"title":"Design of adaptive haptic-enabled virtual reality based system for upper limb movement disorders: A Usability Study","authors":"Ashish Dhiman, Dhaval Solanki, A. Bhasin, A. Bhise, Abhijit Das, U. Lahiri","doi":"10.1109/BIOROB.2016.7523803","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523803","url":null,"abstract":"Neurological disorders are major cause of global disease burden. They often impair hand function, a critical element of our day-to-day activities of daily living. Conventional rehabilitation techniques aim to improve one's ability to use affected limbs which are tailored to individual capabilities (performance and stress level) by clinicians based on the patient's health and progress in skill. However, in developing countries, like India with increasing healthcare costs for availing specialized services, patients are often discharged sooner than required from healthcare units following stroke. Additionally, the situation becomes critical with limited availability of trained healthcare resources. Thus design of intelligent home-based technology-assisted individualized rehabilitation platform with real-time feedback with monitored skill progress is essential. In our present research, we have designed a Virtual Reality (VR) based haptic-enabled Physiologically Aided (PA) Rehabilitation System for patients with upper limb movement disorders. Additionally, we have made a comparative analysis of our PA system with Performance Sensitive (PS) system while offering tasks of varying difficulty levels along with audio-visual feedback. We have designed a Usability Study as proof-of-concept application where we have focused on the patient's shoulder abduction and adduction exercise. The preliminary results of our study are promising. This shows that our system can be a step towards designing a VR-based technology-assisted rehabilitation platform for stroke patients with a potential to address at least some of the issues associated with upper limb movement disorders.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116644523","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: 9