IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献

A Control Method for Transtibial Prostheses with Bilateral Leg Data. 具有双侧腿数据的经胫骨假体的控制方法。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063099

Aniket Mazumder, Edsko E G Hekman, Raffaella Carloni

{"title":"A Control Method for Transtibial Prostheses with Bilateral Leg Data.","authors":"Aniket Mazumder, Edsko E G Hekman, Raffaella Carloni","doi":"10.1109/ICORR66766.2025.11063099","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063099","url":null,"abstract":"Micro-controlled lower limb prosthetic devices typically employ onboard sensors on the amputated side of the user's body to generate control patterns. However, balanced ambulation in a healthy subject requires synchronized neural control to facilitate appropriate positioning and orientation of both limbs. Building upon this idea, this study introduces a control architecture that utilizes information acquired from both limbs using only two inertial measurement units (one placed on the left shank, and one placed on the right thigh) to generate the control commands for a transtibial prosthesis prototype clamped to a table-top. Multiple trials were performed with a healthy subject walking on level ground at different speeds and undertaking an obstacle avoidance task. The results of the experiments suggest that incorporating data from each side provides comprehensive information about the limb's positions and orientations, thereby enabling a controller that can handle actuation timing and assist in precise prosthesis control through an understanding of the user's gait states.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"364-369"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612437","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: 0

A Flexible Clinician-Friendly Interface for Upper Limb Rehabilitation with Industrial Robots. 工业机器人上肢康复的柔性临床友好界面。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063000

Chiara Alessi, Nikolas Sacchi, Antonella Ferrara

引用次数: 0

A Novel Approach to Trunk Rehabilitation: Designing an Upper Body Robotic Mobilizer for Neurological Disorders. 躯干康复的新方法：设计用于神经系统疾病的上肢机器人移动器。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063022

Giulia Bodo, Gianluca Capitta, Mattia Modenese, Luca De Guglielmo, Eleonora Guanziroli, Matteo Laffranchi

{"title":"A Novel Approach to Trunk Rehabilitation: Designing an Upper Body Robotic Mobilizer for Neurological Disorders.","authors":"Giulia Bodo, Gianluca Capitta, Mattia Modenese, Luca De Guglielmo, Eleonora Guanziroli, Matteo Laffranchi","doi":"10.1109/ICORR66766.2025.11063022","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063022","url":null,"abstract":"After a neurological adverse event, restoring trunk functionality is essential for regaining balance, proprioception, and strength, all of which are critical for performing activities of daily living and enabling rehabilitation for impaired upper and lower limbs. Traditional therapy focuses on enhancing core strength, stability, and proprioceptive capabilities. Recent advancements in the field propose robotic solutions that utilize platforms to induce specific movements, stimulating muscular activation and prompting patients to respond to guided motions. These solutions often employ robotic seats that mimic traditional clinical tools, such as cushions or physiotherapy balls, to assist in mobilizing patients. In this work, we introduce a novel approach to trunk rehabilitation through a robotic system: a Series Elastic Actuator (SEA)-based trunk robotic mobilizer. This device is paired with a suite of control strategies designed to address various neurological conditions, including spinal cord injury, post-stroke impairments, and pusher syndrome.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"699-704"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612444","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: 0

A Passive Mechanical Add-On for Treadmill Exercise (P-MATE) in Stroke Rehabilitation. 一种用于跑步机运动的被动机械附加装置（P-MATE）用于中风康复。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063021

Irene L Y Beck, Belle C Hopmans, Bram Haanen, Levi Kieft, Heike Vallery, Laura Marchal-Crespo, Katherine L Poggensee

{"title":"A Passive Mechanical Add-On for Treadmill Exercise (P-MATE) in Stroke Rehabilitation.","authors":"Irene L Y Beck, Belle C Hopmans, Bram Haanen, Levi Kieft, Heike Vallery, Laura Marchal-Crespo, Katherine L Poggensee","doi":"10.1109/ICORR66766.2025.11063021","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063021","url":null,"abstract":"Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive Mechanical Add-on for Treadmill Exercise (P-MATE), a low-cost passive end-effector add-on for treadmills that couples the movement of the paretic and non-paretic legs via a reciprocating system of elastic cables and pulleys. Two human-device mechanical interfaces were designed to attach the elastic cables to the user. The P-MATE and two interface prototypes were tested with a physical therapist and eight unimpaired participants. Biomechanical data, including kinematics and interaction forces, were collected alongside standardized questionnaires to assess usability and user experience. Both interfaces were quick and easy to attach, though user experience differed, highlighting the need for personalization. We also identified areas for future improvement, including pretension adjustments, tendon derailing prevention, and understanding long-term impacts on user gait. Our preliminary findings underline the potential of the P-MATE to provide effective, accessible, and sustainable stroke gait rehabilitation.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1191-1196"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612449","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: 0

Ankle Power Biofeedback Augments Wearable Resistance for Improved Push-Off Power and Muscle Recruitment. 踝关节力量生物反馈增强可穿戴阻力，改善推离力量和肌肉招募。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062997

Emmanuella A Tagoe, Karl Harshe, Collin D Bowersock, Zachary F Lerner

{"title":"Ankle Power Biofeedback Augments Wearable Resistance for Improved Push-Off Power and Muscle Recruitment.","authors":"Emmanuella A Tagoe, Karl Harshe, Collin D Bowersock, Zachary F Lerner","doi":"10.1109/ICORR66766.2025.11062997","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062997","url":null,"abstract":"Ankle push-off power generated by the plantar flexor muscles is essential for efficient walking but is often impaired in individuals with cerebral palsy (CP), leading to inefficient walking. Both powered and passive (i.e., motor- and spring-based) wearable resistance devices are being developed for targeted training. This study explored the use of ankle power biofeedback across powered and passive wearable resistive devices to improve muscle recruitment and push-off power in individuals with CP. Seven individuals with CP completed walking sessions under the following conditions: (1) baseline (no device), (2) spring resistance with and without biofeedback, and (3) motor resistance with and without biofeedback. Push-off power and muscle recruitment were compared between biofeedback vs no-biofeedback conditions for both devices, and to baseline. Combined spring resistance and biofeedback increased soleus activity by 40 % compared to the spring resistance only ($p=0.004$) and by 48 % compared to baseline ($p =0.002$). Similarly, spring resistance and biofeedback increased peak ankle power by 32% relative to the spring resistance only ($mathbf{p}=0.009$) and by 33% compared to baseline ($mathbf{p}=0.010$). In contrast, motorized resistance and biofeedback did not significantly increase peak soleus activity or peak ankle power relative to motor resistance only ($mathrm{p}=0.544; mathrm{p}=0.544$). These findings show that ankle power biofeedback can augment spring resistance to elicit increased muscle recruitment and power during push-off in CP.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1325-1331"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612502","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: 0

Delivering Gait Training to Children at Home with a Robotic Knee Exoskeleton: Initial Findings on Feasibility and Patient Satisfaction. 用机器人膝关节外骨骼在家中为儿童提供步态训练：可行性和患者满意度的初步研究结果。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063029

Taylor M Devine, Noah Rubin, Afua Asante-Otoo, Katharine Alter, Jeffrey Fairman, Diane L Damiano, Thomas C Bulea

{"title":"Delivering Gait Training to Children at Home with a Robotic Knee Exoskeleton: Initial Findings on Feasibility and Patient Satisfaction.","authors":"Taylor M Devine, Noah Rubin, Afua Asante-Otoo, Katharine Alter, Jeffrey Fairman, Diane L Damiano, Thomas C Bulea","doi":"10.1109/ICORR66766.2025.11063029","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063029","url":null,"abstract":"Robotic exoskeletons offer the potential to increase gait training dosage by providing therapy outside the clinic. Exoskeleton use in naturalistic settings has been reported but under researcher supervision and for the purposes of assisting mobility. Here, we examined the feasibility of delivering a resistance-based exoskeleton gait training paradigm in the community setting. Five children aged 6-15 years with crouch gait/knee extension deficiency completed 12-weeks of gait training (5 days/week) at home with the exoskeleton as part of an ongoing interventional trial. Weekly telehealth check-ins were completed. Feasibility was assessed using patient-reported adherence to the prescribed dosage, number of adverse events, and exoskeleton hardware and software robustness during the intervention period. User satisfaction was assessed using the QUEST 2.0. No serious adverse events were reported. Participants completed between 44-57 of the targeted 60 sessions of gait training. Exoskeleton hardware and software were reliable with the most common controller adjustments involving tuning of underfoot sensing thresholds to detect stance and swing. Participant satisfaction with the exoskeleton (mean: 3.65/5) and service (4.7/5) were high. Thus, our findings indicate that resistive gait training with an exoskeleton in the real-world is safe and tolerable in children with neuromotor disorders and should be further investigated to determine effectiveness for improving functional mobility.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"938-943"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612532","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: 0

Motion Range and Control of an Escort-Type Upper Limb Rehabilitation Robot for Assisting Reaching Motion. 陪同式上肢康复机器人辅助触手运动的运动范围与控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063167

Kiyoshi Nagai, Muhammad Syahmi Tuan, Hariz Akmal, Fumiaki Amano, Yanming Zhou, Rui C V Loureiro, William S H Harwin

引用次数: 0

Multi-Linear Regressor for Static Posturography Estimation Through an Instrumented Cane. 基于仪器手杖的静态姿态估计的多线性回归。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063183

Max Burns, Kaymie Shiozawa, Neville Hogan

{"title":"Multi-Linear Regressor for Static Posturography Estimation Through an Instrumented Cane.","authors":"Max Burns, Kaymie Shiozawa, Neville Hogan","doi":"10.1109/ICORR66766.2025.11063183","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063183","url":null,"abstract":"Measuring static postural sway outside of the clinic could provide clinicians with long-term, continuous data on patient balance, offering a comprehensive view beyond infrequent in-clinic assessments. This paper presents a novel method to quantify balance ability through a regression algorithm that predicts postural sway velocity using only motion and force sensors. Data is acquired through sensors onboard an instrumented cane. The prediction algorithm's validity was demonstrated in a study of eight young unimpaired subjects and eight adults over 65. The subjects' balance was challenged with different stance widths and sight conditions while using an instrumented cane. In the younger subject cohort, balance was further challenged through an unstable platform. Together, these conditions allowed for variation of the tasks' difficulty levels and thus the range of measured sway velocity. Across subjects, sway velocity was demonstrated to be highly predictable (Younger Subjects $R^{2}=0.73$, Older Subjects $R^{2}= 0.47$) using just the sensors onboard the instrumented cane. In particular, hand motion was shown to be important in predicting sway velocity. We also demonstrated the use of data features to estimate Romberg quotients of the older participants, suggesting the method's potential to track proprioceptive function over time (Correlation $mathbf{r}=0.82$). This method offers a promising approach to continuous patient monitoring and could provide a long-term, quantitative assessment of balance ability.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"912-918"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612549","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: 0

Multimodal Sensor System for Continuous Monitoring in Elderly Care: A Pilot Study. 多模态传感器系统在老年人护理中的连续监测：一项试点研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063071

Oriella Gnarra, Mehdi Ejtehadi, Sabrina Amrein, Daiki Shimotori, Tatsuya Yoshimi, Kenji Kato, Diego Paez-Granados

{"title":"Multimodal Sensor System for Continuous Monitoring in Elderly Care: A Pilot Study.","authors":"Oriella Gnarra, Mehdi Ejtehadi, Sabrina Amrein, Daiki Shimotori, Tatsuya Yoshimi, Kenji Kato, Diego Paez-Granados","doi":"10.1109/ICORR66766.2025.11063071","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063071","url":null,"abstract":"The growing prevalence of chronic health conditions in aging populations highlights the need for innovative solutions in rehabilitation and long-term care. We propose a multimodal system designed to automatically classify Activities of Daily Living (ADLs) and, in the future, support the prevention of secondary health conditions in institutionalized elderly individuals. This system continuously integrates six commercially available wearable and nearable sensors to monitor ADLs over two weeks, ensuring data completeness and maintaining high data quality throughout the trial. In this study, we present pilot data from two residents of a Japanese elderly care facility, demonstrating the proposed system's feasibility and usability. The collected data was comprehensive and robust, with residents showing strong acceptance of the wearable and nearable technologies for long-term use. These findings underscore the potential of multimodal sensory systems to enhance rehabilitation strategies by enabling continuous health monitoring. Integrating ADLs monitoring into rehabilitation programs may facilitate early detection of health changes and support personalized interventions, building on the success of digital health tracking in other clinical domains.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1041-1046"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612551","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: 0

Enhancing Human Walking Economy Through a Biomimetic Cable-Driven Ankle Exoskeleton. 通过仿生电缆驱动的踝关节外骨骼增强人类行走经济性。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063097

Xianyu Zhang, Kotaro Hinuma, Zhengguang Wang, Zhenzhi Ying, Naohiko Sugita, Shihao Li

{"title":"Enhancing Human Walking Economy Through a Biomimetic Cable-Driven Ankle Exoskeleton.","authors":"Xianyu Zhang, Kotaro Hinuma, Zhengguang Wang, Zhenzhi Ying, Naohiko Sugita, Shihao Li","doi":"10.1109/ICORR66766.2025.11063097","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063097","url":null,"abstract":"Enhancing the walking economy is a primary goal in the application of exoskeletons for gait assistance. However, traditional exoskeletons often face challenges due to rigid designs and the additional distal mass they introduce, limiting their effectiveness. In this study, inspired by the muscle-tendon complex of the human calf, we present a cable-driven ankle exoskeleton designed to provide targeted assistance during plantarflexion movements at the ankle joint. The proposed exoskeleton integrates a compact, lightweight actuation unit with a flexible fabric shank sleeve, ensuring efficient torque transmission from the motor to the ankle joint. A feedback-based cascaded repetitive control system, combined with a multi-sensor fusion communication framework, was developed to achieve precise force control. The system's actuation performance was evaluated through benchtop experiments, demonstrating a bandwidth of approximately 13.5 Hz and a force tracking error of 5 % under position disturbances. Treadmill experiments further validated the effectiveness of the exoskeleton, showing a 7.53 % improvement in walking economy compared to no-assistance conditions. These findings highlight the potential of the proposed design to advance the development of cable-driven exoskeletons for improved gait assistance.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1118-1123"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612567","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: 0