IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第10页

Rehabilitation of Chronic Stroke Using Neurofeedback, Functional Electrical Stimulation and Cerebrospinal Direct Current Stimulation. 神经反馈、功能电刺激和脑脊液直流电刺激对慢性脑卒中康复的影响。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063073

Teodiano Bastos-Filho, Aura Ximena Gonzalez-Cely, Sheida Mehrpour, Fernanda Souza, Ana Cecilia Villa-Parra, Fernando Cabral

{"title":"Rehabilitation of Chronic Stroke Using Neurofeedback, Functional Electrical Stimulation and Cerebrospinal Direct Current Stimulation.","authors":"Teodiano Bastos-Filho, Aura Ximena Gonzalez-Cely, Sheida Mehrpour, Fernanda Souza, Ana Cecilia Villa-Parra, Fernando Cabral","doi":"10.1109/ICORR66766.2025.11063073","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063073","url":null,"abstract":"This work presents the application of a rehabilitation protocol using a novel Non-Invasive Brain Stimulation (NIBS) technique, called cerebrospinal Direct Current Stimulation (csDCS), together with the use of a Brain-Computer Interface (BCI) based on Motor Imagery (MI) with Neurofeedback (NFB), and applying Functional Electrical Stimulation (FES) plus the use of a pedal exerciser. This protocol uses the concept of Alternating Treatment Design (ATD), in which a chronic post-stroke subject is submitted to these techniques to recover his left hand and leg movements. The rehabilitation progress was verified through metrics, such as Fugl Meyer Assessment (FMA), Functional Independence Measure (FIM), Ashworth Scale, Muscle Strength Grading (MSG), and surface Electromyography (sEMG). Results from these metrics include a 41% gain in hand function recovery, a 5% gain in performance in motor and cognitive/social domains, and a 50% improvement in both wrist extensor muscle strength and finger extensor muscle strength. In addition, there was a 17% gain of Maximum Voluntary Contraction (MVC) for the tibialis anterior muscle of the patient's left leg. On the other hand, there was a worsening in some values of EMG, probably due to the participant having received application of botulinum toxin in his hand.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1203-1208"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612701","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

Robotic Individualized Driving Evaluation (RIDE): Design and Preliminary Evaluation. 机器人个性化驾驶评估（RIDE）：设计与初步评估。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063090

Tim D Yang, Laura Rice, Seth Hutchinson, Yih-Kuen Jan

{"title":"Robotic Individualized Driving Evaluation (RIDE): Design and Preliminary Evaluation.","authors":"Tim D Yang, Laura Rice, Seth Hutchinson, Yih-Kuen Jan","doi":"10.1109/ICORR66766.2025.11063090","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063090","url":null,"abstract":"Power wheelchair driving entails safety risks, including tips and collisions. Thus, driving assessments are important to safeguard both drivers and their surroundings. However, current driving assessments are deterministic, whereas driving itself is stochastic due to individual and environmental uncertainty. Moreover, disabilities magnify this uncertainty. In this study, a robotic wheelchair was used for a novel function: stochastic assessment of PWC driving. The Robotic Individualized Driving Evaluation (RIDE) is a stochastic assessment that contrasts with deterministic assessments by accounting for individual differences via assessment profiles. The robotic wheelchair acquired the information needed for the stochastic model, and a probabilistic risk score was formulated. The purpose of this preliminary study was to test the effect of assessment profiles within and between driving tasks. Within tasks, there were significant differences in RIDE risk between the profiles. Between tasks, there were significant differences in the new stochastic RIDE metrics but not in the conventional deterministic metrics. Results demonstrated potential for this novel use of robotic wheelchairs to support personalized assessment and training in power mobility rehabilitation.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1693-1698"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612709","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 Comfort and Repeatability of Humanrobot Attachment Systems: Comparison of a Compliant Orthosis for BLUE SABINO. 增强人-机器人连接系统的舒适性和可重复性：一种适用于BLUE SABINO的柔性矫形器的比较。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062979

Emile C Johnson, Joel C Perry, Christopher K Bitikofer

{"title":"Enhancing Comfort and Repeatability of Humanrobot Attachment Systems: Comparison of a Compliant Orthosis for BLUE SABINO.","authors":"Emile C Johnson, Joel C Perry, Christopher K Bitikofer","doi":"10.1109/ICORR66766.2025.11062979","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062979","url":null,"abstract":"The human-robot attachments (HRA) connecting humans to exoskeleton robots should facilitate user independence, efficient donning/doffing, maintain user-robotkinematic alignment using interfaces that are sufficiently rigid, comfortable to wear, and (with the aid of the exoskeleton) accommodate dexterous human motion. This report presents a proof-of-concept comparison of an innovative self-aligning, sizeadjustable HRA system designed for the upper arm. A novel discretely contracting orthosis adjusted by a dial ratcheting cable mechanism was fabricated from flexible and semi-rigid plastics to improve support and rigidity. Experiments comparing this new design to an existing rigid HRA design for the BLUE SABINO are conducted to characterize suitability in terms of ability to maintain kinematic alignment and to distribute interaction forces evenly on the user's arm. Piezoelectric force-sensitive-resistor sensors embedded in an elastic sleeve are used to measure human/orthosis interface forces at 8 Locations distributed on the circumference of the arm interface. Kinematic alignment was assessed for $5^{text {th }}$ percentile female to $95^{text {th }}$-percentile male sizes using 3D-printed mock arm cross sections. Laser alignment experiments found that the proposed device reduced arm center to orthosis center misalignment magnitude by up to 11.5 mm for $5^{text {th }}$ percentile male arm circumference vs. the existing design. Force measurements are inconclusive but indicate the potential to alter force distribution while being adequately adjustable and usable with repeatable settings.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1773-1778"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612565","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

Organizing and Prioritizing User Needs for Upper Limb Prostheses. 上肢假肢用户需求的组织和优先排序。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063034

Palma Borracci, Robinson Guachi, Linda Paterno, Irene Mannari, Flavio Napoleoni, Marco Controzzi

{"title":"Organizing and Prioritizing User Needs for Upper Limb Prostheses.","authors":"Palma Borracci, Robinson Guachi, Linda Paterno, Irene Mannari, Flavio Napoleoni, Marco Controzzi","doi":"10.1109/ICORR66766.2025.11063034","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063034","url":null,"abstract":"Upper limb amputation leads to severe restrictions in daily activities and psychosocial difficulties, which can dramatically reduce the quality of life of affected people. Despite the significant scientific and engineering effort in building advanced robotic prostheses, their abandonment rates suggest a discrepancy between user needs and device performance. To address this gap, we present an initial step in identifying, harmonizing, and prioritizing the needs of people with limb loss. Using the PRISMA methodology, we analysed 73 papers on the topic. Using a bottom-up approach, we clustered the needs identified in different surveys into categories and macro-categories based on a taxonomy derived from the terms identified in the literature. We then prioritized the needs after a normalization of the major surveys. We believe that this work will provide both a high-level and low-level understanding of the needs of people with limb loss, thereby helping to guide the design of more user-friendly prostheses. In the future, combining these results with the definition of technical specifications will enable the identification of needs that can be satisfied through personalized design, particularly considering recent advances in manufacturing processes.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1139-1146"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612676","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

Pupillometry for Arm and Hand Motor Intent Detection. 瞳孔测量法用于手臂和手部运动意图检测。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063027

Shane Forbrigger, Thomas Trappenberg, Ya-Jun Pan

{"title":"Pupillometry for Arm and Hand Motor Intent Detection.","authors":"Shane Forbrigger, Thomas Trappenberg, Ya-Jun Pan","doi":"10.1109/ICORR66766.2025.11063027","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063027","url":null,"abstract":"Rehabilitation robots and assistive devices that detect the motor intent of their users can provide more intuitive and effective control. Pupil dilation occurs when people perform motor activities, but its utility for detecting motor intent has not been explored previously. In this work, a human participant research study is conducted to determine if pupillometric data can be used to differentiate between a person's intent to pick up or observe an object. Thirty participants were recruited to perform 120 trials of picking up and observing objects while their pupil dilation was recorded by an eye tracking headset. Features were extracted from the time series data and used to train a neural network classifier. The classifier was tested using leave-one-out cross-validation. The classifier achieved an average accuracy of 59.4% and F1 score of 0.578 across the thirty test datasets. The performance varied significantly depending on the participant used for testing, suggesting that the pupillometric approach to intent detection may be better suited to some participants than others. Future work should determine whether intent detection can be improved with more advanced machine learning methods, such as convolutional neural networks (CNN), and whether intent detection can be performed in real time.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1382-1387"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612692","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

Analysis of Different Sensor Modalities for Movement Classification in Physical Therapy. 物理治疗中运动分类的不同传感器模式分析。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063078

Sebastian Dill, Luise Herrmann, Arjang Ahmadi, Martin Grimmer, Dennis Haufe, Yanhua Zhao, Maziar Sharbafi, Christoph Hoog Antink

{"title":"Analysis of Different Sensor Modalities for Movement Classification in Physical Therapy.","authors":"Sebastian Dill, Luise Herrmann, Arjang Ahmadi, Martin Grimmer, Dennis Haufe, Yanhua Zhao, Maziar Sharbafi, Christoph Hoog Antink","doi":"10.1109/ICORR66766.2025.11063078","DOIUrl":"10.1109/ICORR66766.2025.11063078","url":null,"abstract":"This study investigates feature analysis and feature fusion from different sensor modalities for the task of identifying movement errors in physiotherapeutic exercises, using squats as a case study. Incorrectly performed exercises can lead to injuries, underscoring the need for accurate monitoring tools. In an experiment, ten participants performed squats in three variations: correct execution, forward lean, and lateral tilt. To identify movement patterns, we evaluated muscle activation through electromyography (EMG), kinematic data through Motion Capture (MoCap) and joint angles from video footage through MediaPipe Pose. Distinct movement patterns were identified for the erroneous variations: forward lean altered hip and knee angles, while lateral tilt caused asymmetries in posture. In the EMG signal, deviations in the activity of distinct muscles correlated clearly with specific erroneous movements. Activation in the Gluteus Maximus was higher for the forward lean, while activity in the Quadriceps was lower. For the lateral tilt, a clear difference between left and right muscle activation was visible. Signal processing techniques extracted key features, such as muscle activation peaks and joint angle deviations, that we used to discern between the different squat types with a decision tree model. MoCap-based features offered the highest precision when used on their own, but fusing different sensor modalities achieved the best results. Although the video-based classifications were less accurate, its cost-effectiveness and ease-of-use suggest potential for home rehabilitation. Future research should enhance marker-less technologies and enable real-time feedback for broader applications.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1409-1415"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612499","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

Non-Invasive Spatiotemporal Spinal Cord Stimulation Paired with Force Perturbations Improves Balance in Individuals Post-Stroke: A Pilot Study. 非侵入性时空脊髓刺激与力扰动相结合可改善中风后个体的平衡：一项初步研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063158

Ming Wu, Shijun Yan, Hyosok Lim, Iram Hameeduddin, Weena Dee, Velarie Pech

{"title":"Non-Invasive Spatiotemporal Spinal Cord Stimulation Paired with Force Perturbations Improves Balance in Individuals Post-Stroke: A Pilot Study.","authors":"Ming Wu, Shijun Yan, Hyosok Lim, Iram Hameeduddin, Weena Dee, Velarie Pech","doi":"10.1109/ICORR66766.2025.11063158","DOIUrl":"10.1109/ICORR66766.2025.11063158","url":null,"abstract":"The goal of this study was to determine the feasibility of applying targeted force perturbations paired with spatiotemporal transcutaneous spinal cord stimulation during walking for improving balance in individuals post-stroke. Five individuals with chronic stroke ($>6$ months) were recruited and completed 6 sessions (3 times/week) of balance training paired with spatiotemporal spinal cord stimulation. Balance was assessed pre, post 2 weeks of training, and follow-up, i.e., 2 weeks after the end of training. Results indicated that individuals post-stroke could tolerate the force perturbations applied to the pelvis paired with spatiotemporal spinal cord stimulation during walking. Further, individual post-stroke showed improvements in balance, assessed using the Dynamic Gait Index and Berg Balance Scale scores, after targeted force perturbation balance training paired with spatiotemporal spinal cord stimulation, although this was not significant due to the small sample size. Results from this study suggest that it was feasible to improve balance in individuals poststroke using targeted pelvis force perturbations paired with spatiotemporal spinal cord stimulation during walking.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1811-1816"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612656","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 Body-Powered Wrist-Driven Supernumerary Robotic Finger. 身体驱动的腕部驱动的多余机械手指。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063063

Alyssa N Maguina, Renato Mio, Sebastian Caballa

{"title":"A Body-Powered Wrist-Driven Supernumerary Robotic Finger.","authors":"Alyssa N Maguina, Renato Mio, Sebastian Caballa","doi":"10.1109/ICORR66766.2025.11063063","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063063","url":null,"abstract":"Individuals with grasping impairments face significant challenges in performing daily tasks due to reduced hand function. Existing supernumerary robotic fingers (SRFs) often rely on electronic components that limit their usability through added weight and power constraints. This work introduces the first body-powered wrist-driven SRF (bpSRF), a design that addresses these limitations by removing all electronic components. The proposed bpSRF weighs 52 g and is mostly made of 3D printed parts. Using body-powered actuation principles, the extra finger is driven by wrist movements, offering a practical, affordable, and lightweight solution for hand augmentation. The bpSRF has two degrees of freedom, enabling users to perform enhanced grasping techniques with minimal learning curve. Experimental validation with five healthy participants showed high success rates and rapid learning of novel grasping patterns for tasks involving large or multiple objects that typically require two hands. The design offers a workspace volume approximately three times larger than a human thumb, potentially expanding users' manipulation capabilities. This research contributes to a new paradigm in assistive technology, presenting a lightweight, cost-effective, and open source SRF that can enhance grasping abilities for individuals with motor impairments while also offering augmentation possibilities for healthy users.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1065-1070"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612423","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 Low-Cost, Versatile, Open-Source, DIY Partial Body-Weight Support Device. 一种低成本、多功能、开源、DIY的部分体重支撑装置。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063116

Dana L Lorenz, William Kozak, Braedon Harris, Kyle Eaton, Amoagh Gopinath, Keven Hernandez, James Sulzer

{"title":"A Low-Cost, Versatile, Open-Source, DIY Partial Body-Weight Support Device.","authors":"Dana L Lorenz, William Kozak, Braedon Harris, Kyle Eaton, Amoagh Gopinath, Keven Hernandez, James Sulzer","doi":"10.1109/ICORR66766.2025.11063116","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063116","url":null,"abstract":"Partial body weight support during gait training and other tasks is a common practice. Approaches using robotic devices allow for a wide range of functions but at great cost and complexity. Based on constant force springs, we have created a low-cost body weight support system from off-the-shelf parts, with no tools required for assembly or maintenance, and it is easily integrated into any overhead support system. The design is presented as open source for future improvements. We evaluated the hysteresis using two different types of constant force springs, comprising clinically relevant levels of weight support, 61.2 N and 131 N. Force constancy during walking was examined. Hysteresis had noticeable effects on weight support, illustrating a potential challenge for future designs with body weight support through constant force springs. By providing the constant weight support, the most common type of body weight support, this device represents an accessible alternative to robotic dynamic body weight support tools.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"932-937"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612443","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 Novel Elastic Model for Exoskeleton-User Coupling Interfaces. 一种新的外骨骼-用户耦合接口弹性模型。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062987

Christian Mele, David Choi, Katja Mombaur, James Tung

{"title":"A Novel Elastic Model for Exoskeleton-User Coupling Interfaces.","authors":"Christian Mele, David Choi, Katja Mombaur, James Tung","doi":"10.1109/ICORR66766.2025.11062987","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062987","url":null,"abstract":"Current research on physical human-robot interactions (pHRI) in wearable assistive robots, such as lower-limb exoskeletons, primarily focuses on improving net force estimates at each interface to improve robot controller performance. Consequently, estimating force distribution along physical interfaces of wearable robots, crucial for user safety and comfort, has been largely overlooked. We propose a novel computational model that uses interface geometry and strapping tension as inputs, and predicts the static pressure field generated during the user donning process by treating the supporting surface as an elastic foundation. Accuracy of the proposed computational method was validated by comparing the estimated static pressure field of a commercially available interface to experimental data. While measured pressure magnitudes were significantly lower than model prediction, likely due to a combination of assumptions and limitations associated with model design, similar loading patterns were observed. Identifying regions of high pressure from simulation and similar patterns allow for reliable scaling to reduce inaccuracies, and may be used to inform design. Further refinements of the proposed model will provide a valuable tool for developing more comfortable and safer interfaces for wearable robots.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1576-1583"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612445","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