2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)最新文献_第3页

A Bioinspired Control Strategy for the CYBERLEGs Knee-Ankle-Foot Orthosis: Feasibility Study with Lower-Limb Amputees CYBERLEGs膝踝足矫形器的仿生控制策略:下肢截肢者的可行性研究

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487692

C. B. Sanz-Morère, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, S. Crea, N. Vitiello

{"title":"A Bioinspired Control Strategy for the CYBERLEGs Knee-Ankle-Foot Orthosis: Feasibility Study with Lower-Limb Amputees","authors":"C. B. Sanz-Morère, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, S. Crea, N. Vitiello","doi":"10.1109/BIOROB.2018.8487692","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487692","url":null,"abstract":"Lower-limb loss is a dramatic event affecting quality of life and often reducing independence. An active Knee-Ankle-Foot Orthosis (KAFO) could represent an assistive tool for lower-limb amputees to reduce the additional metabolic effort resulting from compensatory strategies due to walking with a passive prosthesis. Within the CYBERLEGs project, a novel active KAFO was designed to assist the knee and the ankle joints during ground level walking. In this paper the mechatronic design of the device is presented for the first time. Moreover, the paper presents the control strategy developed to provide knee and ankle assistance and the experimental results with two volunteers with lower-limb amputation. The KAFO was shown to: (i) fulfill all the design functional requirements to comply with range of motion, torque, speed and power; and (ii) provide assistive torque in the most demanding phases of the gait cycle. Tests with end-users showed that the assistive action resulted in physiological profiles of the knee and ankle angles and torques, showing a first proof of feasibility for the presented system. Both subjects reported comfortable interaction with the exoskeleton, but results on the metabolic consumption were not conclusive. This feasibility study will be extended in the future with an optimized controller to further explore the effectiveness of the system.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131765487","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: 10

Continuous Modulation of Step Height and Length in Bipedal Walking, Combining Reflexes and a Central Pattern Generator 两足行走中台阶高度和长度的连续调制，结合反射和中央模式发生器

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487799

P. Greiner, N. V. D. Noot, A. Ijspeert, R. Ronsse

引用次数: 2

Towards a New Generation of Smart Devices for Mobility Assistance: CloudWalker, a Cloud-Enabled Cyber-Pbysical System 迈向新一代移动辅助智能设备:CloudWalker，一个支持云的网络物理系统

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488077

R. Mello, Mario F. Jiménez, Franco Souza, Moisés R. N. Ribeiro, A. Frizera-Neto

{"title":"Towards a New Generation of Smart Devices for Mobility Assistance: CloudWalker, a Cloud-Enabled Cyber-Pbysical System","authors":"R. Mello, Mario F. Jiménez, Franco Souza, Moisés R. N. Ribeiro, A. Frizera-Neto","doi":"10.1109/BIOROB.2018.8488077","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488077","url":null,"abstract":"The increased computational complexity demanded by recent algorithms and techniques applied to healthcare and social robotics, often limited by the robot's embedded hardware, coupled with advancements on networking and cloud computing enabled the so-called cloud robotics paradigm. This work explores cloud robotics concepts pointing at opportunities on the design and development of robotic platforms used for patient mobility assistance. Moreover, we present CloudWalker, a cloud-enabled cyber-physical system to assist mobility impaired individuals. The conception of such system envisions the integration of smart walkers and remote cloud computing platforms, aiming at expanding the range of features these devices can offer to users, patients, healthcare professionals, and family members. Results from validation experiments point to the emergence of a new generation of smart walkers and assistive devices in general, designed to leverage cloud computing concepts to provide an extended range of services to users, relatives, and healthcare professionals.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127799722","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

On the Validity of Different Motion Capture Technologies for the Analysis of Running 不同动作捕捉技术在跑步分析中的有效性研究

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487210

Frank J. Wouda, M. Giuberti, G. Bellusci, Erik Maartens, J. Reenalda, B. Beijnum, P. Veltink

{"title":"On the Validity of Different Motion Capture Technologies for the Analysis of Running","authors":"Frank J. Wouda, M. Giuberti, G. Bellusci, Erik Maartens, J. Reenalda, B. Beijnum, P. Veltink","doi":"10.1109/BIOROB.2018.8487210","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487210","url":null,"abstract":"An increasing diversity of available motion capture technologies allows for measurement of human kinematics in various environments. However, little is known about the differences in quality of measured kinematics by such technologies. Therefore, this work presents a comparison between three motion capture approaches, based on inertial-magnetic measurement units (processed with Xsens MVN Analyze) and optical markers (processed using Plug-In Gait and OpenSim Gait2392). It was chosen to evaluate the different motion capture approaches in running, as such kinematics are preferably measured in the natural running environment and involve challenging dynamics. An evaluation was done using data of 8 subjects running on a treadmill at three different speeds, namely 10, 12 and 14 kmlh. The sagittal plane results show excellent correlation $(rho > pmb{0.96})$ and RMSDs are smaller than 5 degrees for 6 out of the 8 subjects. However, results in the frontal and transversal planes were less correlated between the different motion capture approaches. This shows that sagittal kinematics can be measured consistently using any of the three analyzed motion capture approaches, but ambiguities exist in the analysis of frontal and transversal planes.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115717016","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: 11

A Novel Sensing System for Robotic Cochlear Implants Electrode Array Placement 机器人人工耳蜗电极阵列定位传感系统研究

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488148

Lei Hou, Xinli Du, N. Boulgouris

引用次数: 1

A Novel Method for Bilateral Gait Segmentation Using a Single Thigh-Mounted Depth Sensor and IMU 基于单腿深度传感器和IMU的双侧步态分割新方法

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487806

Blair H. Hu, N. Krausz, L. Hargrove

{"title":"A Novel Method for Bilateral Gait Segmentation Using a Single Thigh-Mounted Depth Sensor and IMU","authors":"Blair H. Hu, N. Krausz, L. Hargrove","doi":"10.1109/BIOROB.2018.8487806","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487806","url":null,"abstract":"Lower limb assistive devices have shown potential to restore mobility to millions of individuals with walking impairments; however, their success depends on whether they can be controlled safely, reliably, and intuitively with user-friendly sensors. To assist the user's walking patterns, many devices implement finite-state controllers which rely on accurate estimation of the current gait phase (e.g. stance, swing) of one or both legs. Bilateral gait segmentation is especially important for restoring natural interlimb coordination, which contributes to device safety and efficiency. Most existing techniques for gait segmentation use ground contact, device-embedded, or body-worn sensors with threshold or machine learning-based algorithms. They have been effective at identifying the state of the ipsilateral (i.e. sensor-side) leg but can become inconvenient for bilateral gait segmentation because they often require many sensors and are more sensitive to sensor placement. Therefore, we present a proof of concept for a novel approach to bilateral gait segmentation using a thigh-mounted inertial measurement unit (IMU) and depth sensor with the contralateral leg in its field of view. We extracted two features, ground and shank angle, from the depth data and developed a sensor fusion strategy to predict contralateral heel contact and ipsilateral toe off with accuracy approaching that of a setup with bilateral thigh and shank IMUs. By using computer vision to estimate the state of both legs, we introduce a new technique for bilateral gait segmentation which could make assistive devices more user-friendly, safe, and functional.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123427431","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: 19

The Effect of Prolonged Use of a Wearable Soft-Robotic Glove Post Stroke - a Proof-of-Principle 长时间使用可穿戴软体机器人手套后中风的影响-一个原理证明

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487906

A. L. V. Ommeren, B. Radder, J. Buurke, A. Kottink, J. Holmberg, K. Sletta, Gerdienke B. Prange-Lasonder, J. Rietman

{"title":"The Effect of Prolonged Use of a Wearable Soft-Robotic Glove Post Stroke - a Proof-of-Principle","authors":"A. L. V. Ommeren, B. Radder, J. Buurke, A. Kottink, J. Holmberg, K. Sletta, Gerdienke B. Prange-Lasonder, J. Rietman","doi":"10.1109/BIOROB.2018.8487906","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487906","url":null,"abstract":"Many stroke survivors encounter difficulties in the performance of activities of daily life due to limitations in functional use of the hand. Robotic technology has the potential to compensate for this loss by providing the support that is required to perform activities of daily living, especially when these devices are wearable comfortably for many hours at home. As a first step towards the implementation of assistive technology in the homes of stroke survivors, usability along with the potential effect of prolonged use of a wearable soft-robotic glove during activities of daily life on functional task performance was assessed in this study. Therefore, five chronic stroke survivors were asked to use a wearable soft-robotic glove for four weeks at home during preferred activities of daily life. Before and after the home use of the glove, functional task performance was assessed in a lab environment. After the use of the glove, system usability was assessed. The prolonged use of the glove resulted in an improved supported and unsupported functional performance during tasks related to activities of daily life, as measured with the Jebsen-Taylor Hand Function Test. Promising system usability results were found indicating a good probability for acceptance of the glove. The results from this study indicate the potential of the current glove to be used as assistive tool, which even showed a therapeutic effect. Yet, the glove should be tested in a larger sample for better interpretation and confirmation of these promising results.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130719514","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

A Novel Protocol for the Evaluation of Motor Learning in 3D Reching Tasks Using Novint Falcon 一种基于Novint Falcon的三维动作学习评估新方案

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487735

E. Scalona, F. Martelli, Z. Prete, E. Palermo, S. Rossi

{"title":"A Novel Protocol for the Evaluation of Motor Learning in 3D Reching Tasks Using Novint Falcon","authors":"E. Scalona, F. Martelli, Z. Prete, E. Palermo, S. Rossi","doi":"10.1109/BIOROB.2018.8487735","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487735","url":null,"abstract":"Motor learning or motor adaptation is the capability to acquire new motor skills or the adaptation of existing motor skills to new environmental conditions. In this paper, a new protocol based on a low-cost haptic device for evaluating the motor adaptation during perturbed 3D reaching tasks was presented. The protocol consisted of three 3D reaching tasks performed using Novint Falcon: a familiarization task in which no force fieldwas applied, an adaptation task in which a perturbing force field occurred, and a wash out task with no force field. Ten healthy subjects were enrolled in the study. Subjects were asked to reach four targets equally distributed along a circumference. During the adaptation task, a constant force perpendicular to the direction of movement was applied and it was randomly removed 40 times out of 160. Trajectories of the end-effector were recorded to calculate the following kinematic indices: duration of movement, length ratio, lateral deviation, speed metric and normalized jerk. The learning index was calculated to study the motor learning during the adaptation task. Two-way repeated measure ANOVA tests were performed for all the indices considering movement directions and tasks as independent variables. Moreover, a one-way repeated measure ANOVA was performed on the learning index to find differences among the 4 target sets. The movement accuracy is influenced from both the perturbed force field and the movement direction. The smoothness of the reaching movement is influenced by the presence of the force field and decreases when it is applied. Learning index showed the capability of the subjects to rapidly adapt to a perturbed force field, generating a compensation strategy in a 3D movement.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130955135","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

Motion Capture Pillow for Head-and-Neck Cancer Radiotherapy Treatment 头颈癌放疗用动作捕捉枕

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487217

Gareth Griffiths, P. Cross, S. Goldsworthy, B. Winstone, S. Dogramadzi

引用次数: 3

Motor Intention Decoding During Active and Robot-Assisted Reaching 主动和机器人辅助伸手过程中的运动意图解码

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487673

Aldo Pastore, C. Pierella, F. Artoni, E. Pirondini, M. Coscia, M. Casadio, S. Micera

{"title":"Motor Intention Decoding During Active and Robot-Assisted Reaching","authors":"Aldo Pastore, C. Pierella, F. Artoni, E. Pirondini, M. Coscia, M. Casadio, S. Micera","doi":"10.1109/BIOROB.2018.8487673","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487673","url":null,"abstract":"Robotics rehabilitation is a widely used approach for the treatment of patients with severe motor disabilities, such as stroke survivors. Robots can provide intense, controlled and repeatable rehabilitation and they can also provide different levels of assistance when patients are not able to initiate or complete a movement. Nevertheless, several studies proved that completely passive movements are not sufficient to stimulate neuro-motor recovery and patients' engagement is a key factor for an effective rehabilitation. For this reason it is important to combine techniques for detection of movement intention (MI) with rehabilitation robotics. In this study we developed an algorithm capable of detecting MI before the movement onset, in order to obtain a trigger signal for providing robotics assistance. The proposed algorithm automatically selects the channels used to extract MI based on the motor-information content of each channel. The developed algorithm was tested on data recorded on n = 8 healthy subjects performing 3D reaching movements with an exoskeleton in active and assisted conditions. MI was detected about 400 ms before the beginning of the movement and the performance of the proposed method were significantly higher than the one achieved when six preselected channels, located over motor areas, were used for MI decoding. MI was also detected during robot-assisted movements. Interestingly, in active movements the highest performance was achieved with electrodes over a well-localized cluster above the contralateral and central motor areas, while in passive executions, the areas with the best performances became more sparse.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121432160","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