IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第2页

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

Feasibility of a Customised Handgrip for a Rehabilitation Robot to Meet Specific Needs. 定制康复机器人手柄以满足特定需求的可行性。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063189

Lutong Li, Helen Dawes, Sarah Tyson, Glen Cooper, Andrew Weightman

{"title":"Feasibility of a Customised Handgrip for a Rehabilitation Robot to Meet Specific Needs.","authors":"Lutong Li, Helen Dawes, Sarah Tyson, Glen Cooper, Andrew Weightman","doi":"10.1109/ICORR66766.2025.11063189","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063189","url":null,"abstract":"Stroke is a common healthcare problem, leading to disability and significantly impacting individuals' quality of life. A customised device was suggested to be used for roboticassisted therapy to meet different stroke survivors' needs. However, most existing upper limb rehabilitation robots only offer a generic handgrip, which fails to meet the various needs of stroke survivors with different spastic patterns and levels of upper limb weakness. This study investigates the technical and clinical feasibility of customised handgrips to meet stroke survivors' needs through an online questionnaire with 25 therapists and parametric handgrip designs. One wrist support and two different handgrips were designed, and their size (e.g., length and width) can be adapted based on the individual anthropology data. By using the additive manufacturing method, the manufacturing cost of bespoke handgrip is reduced by up to 15 %. Additionally, more than 90 % of professionals $(mathrm{n}=23)$ stated the positive impact of customised handgrip on rehabilitation outcomes and $72 %(mathrm{n}=18)$ would like to use it with stroke survivors due to its high accessibility and variability. The results indicate that a customised handgrip has the potential to benefit the stroke rehabilitation from both technical and clinical perspectives.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"193-198"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612586","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

First Steps of Creating a Simulation Environment in OpenSim to Design a Control Method for a Novel Soft Robotic Exoskeleton. 在OpenSim中创建仿真环境的第一步设计一种新型柔性机器人外骨骼的控制方法。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063077

Reka Kiss, Sandor Foldi, Attila Repai, Adam Makk, Gyorgy Cserey, Miklos Koller

{"title":"First Steps of Creating a Simulation Environment in OpenSim to Design a Control Method for a Novel Soft Robotic Exoskeleton.","authors":"Reka Kiss, Sandor Foldi, Attila Repai, Adam Makk, Gyorgy Cserey, Miklos Koller","doi":"10.1109/ICORR66766.2025.11063077","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063077","url":null,"abstract":"Movement coordination disorders can originate from congenital abnormalities, traumatic injuries, or severe infections. These conditions can manifest in various ways, such as hypertonia, hypotonia, and involuntary movements, significantly impairing an individual's ability to perform daily tasks. This research focuses on the development of a soft exoskeleton designed to enhance the quality of life for individuals with cerebral palsy, particularly those affected by athetosis - a condition marked by involuntary, fluctuating muscle tone and associated balance challenges. The exoskeleton aims to provide conductive education (also known as the Petó method) for maintaining motor functions and facilitating precise movements, thereby contributing to the social and professional integration of individuals living with mobility disorders. This manuscript emphasizes the simulation phase of the exoskeleton development, which supports the physical design process through numerous iterative cycles. During the research, we utilized three different movement data sources, we developed a whole and a partial simulated model (reduced degree-offreedoms) of our real exoskeleton, and investigated two different control methods in simulation. At the end of the day we achieved a qualitatively similar behavior in simulation what we produced with the physical exoskeleton at its current development stage.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1403-1408"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612588","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

Ground Perturbation Detection via Lower-Limb Kinematic States During Locomotion. 基于下肢运动状态的地面摄动检测。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063070

Maria T Tagliaferri, Leonardo Campeggi, Owen N Beck, Inseung Kang

{"title":"Ground Perturbation Detection via Lower-Limb Kinematic States During Locomotion.","authors":"Maria T Tagliaferri, Leonardo Campeggi, Owen N Beck, Inseung Kang","doi":"10.1109/ICORR66766.2025.11063070","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063070","url":null,"abstract":"Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and reacting to perturbations before the user. Although commonly used, the standard metric for perturbation detection, whole-body angular momentum, is poorly suited for exoskeleton applications due to computational delays and additional tunings. To address this, we developed a novel ground perturbation detector using lower-limb kinematic states during locomotion. To identify perturbations, we tracked deviations in the kinematic states from their nominal steady-state trajectories. Using a data-driven approach, we optimized our detector with an open-source ground perturbation biomechanics dataset. A nine-subject cross-validation demonstrated that our model distinguished perturbed from unperturbed gait cycles with 95.5% accuracy and only a delay of 33.1% within the gait cycle, outperforming the benchmark by 49.4% in detection accuracy. The results of our study offer exciting promise for our detector and its potential utility to enhance the controllability of robotic assistive exoskeletons.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1197-1202"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612595","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

Identifying Gait Patterns in Sub-Acute Stroke Patients Based on Open Access Gait Kinematics. 基于开放存取步态运动学的亚急性脑卒中患者步态模式识别。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063142

Celine Bouwmeester, Gerdienke B Prange, Leendert Schaake, Johan S Rietman, Erik C Prinsen

引用次数: 0

Impedance Control for Ankle Preparation Phase in BALANSens Platform. BALANSens平台踝部准备阶段的阻抗控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063091

Hafiz Muhammad Bilal, Mahmut Beyaz, Ramazan Unal, Elif Hocaoglu

{"title":"Impedance Control for Ankle Preparation Phase in BALANSens Platform.","authors":"Hafiz Muhammad Bilal, Mahmut Beyaz, Ramazan Unal, Elif Hocaoglu","doi":"10.1109/ICORR66766.2025.11063091","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063091","url":null,"abstract":"Ankle injuries and musculoskeletal disorders often necessitate long-term rehabilitation to restore mobility and balance. The BALANSens robotic platform, designed within the Integrated Balance Rehabilitation (I-BAR) framework, combines ankle, balance, and stepping therapies into a cohesive rehabilitation process. This paper focuses on implementing impedance control on the BALANSens platform, which regulates the dynamic interaction between human limbs and the robotic system, making it suitable for active rehabilitation exercises. Traditional impedance control methods rely on costly six-axis force sensors to measure applied torques. However, this work proposes an affordable alternative using multiple load cells placed under the foot sole. These load cells not only measure ankle joint torques but also capture foot pressure distribution data, a key factor in the later stages of rehabilitation. The paper presents the derivation of joint space impedance control for the platform, with force measurements using load cells, and evaluates the system in a real hardware environment. The results underscore the promise of this approach for active rehabilitation, offering a cost-effective solution that simultaneously enriches the scope of patient assessment data.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"490-495"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612610","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

Integration of a Gripper-Equipped Humanoid Social Robot for EEG-Monitored Action Observation Paradigms. 面向脑电图监测动作观察范式的机械手类人社交机器人集成。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062928

Anh T Nguyen, Hao Zhang, Tian Tan, Mohammad Abrar, Yuxin Zhang, Michelle J Johnson

{"title":"Integration of a Gripper-Equipped Humanoid Social Robot for EEG-Monitored Action Observation Paradigms.","authors":"Anh T Nguyen, Hao Zhang, Tian Tan, Mohammad Abrar, Yuxin Zhang, Michelle J Johnson","doi":"10.1109/ICORR66766.2025.11062928","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062928","url":null,"abstract":"Action Observation (AO) therapy leverages the mirror neuron system (MNS) and may support motor recovery in neurorehabilitation. In this study, we integrated Flo v2, a humanoid robot equipped with grippers and object detection system, into an AO therapy paradigm with electroencephalography (EEG) monitoring. Flo v2's enhanced design enables the execution of upper-limb actions, either transitive (involving object interaction such as grasping a cup) or intransitive (gesture-based without object manipulation such as waving). The robot control is synchronized with EEG recording to facilitate the investigation of cortical responses during AO tasks. We also conducted a case study to assess of the upgraded robot system's feasibility. Three healthy participants observed and imitated robot-performed actions, where the robot actor was in person or on videos. Exploratory analyses of EEG signals examined sensorimotor mu event-related desynchronization (ERD) during video-based and in-person AO tasks. Results indicated stronger responses during bimanual and transitive AO in the in-person settings. However, individual variability in cortical responses was evident, with one subject showing less pronounced ERD patterns, and that comparisons of mu ERDs across different types of action in video-based AO settings were inconsistent among subjects. Flo v2's enhancements demonstrated its feasibility as a tool for robot-mediated AOE therapy and highlighted potential for further neurorehabilitation research.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1699-1705"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612618","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

Introducing V-Soft Pro: A Modular Platform for a Transhumeral Prosthesis with Controllable Stiffness. V-Soft Pro：一个可控制刚度的肱骨假体模块化平台。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062964

Giuseppe Milazzo, Giorgio Grioli, Antonio Bicchi, Manuel G Catalano

{"title":"Introducing V-Soft Pro: A Modular Platform for a Transhumeral Prosthesis with Controllable Stiffness.","authors":"Giuseppe Milazzo, Giorgio Grioli, Antonio Bicchi, Manuel G Catalano","doi":"10.1109/ICORR66766.2025.11062964","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062964","url":null,"abstract":"Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In contrast, human limbs leverage intrinsic compliance and actively modulate joint stiffness, enabling adaptive responses to varying tasks, impact absorption, and efficient energy transfer during dynamic actions. Inspired by this adaptability, we developed a transhumeral prosthesis with Variable Stiffness Actuators (VSAs) to replicate the controllable compliance found in biological joints. The proposed prosthesis features a modular design, allowing customization for different residual limb shapes and accommodating a range of independent control signals derived from users' biological cues. Integrated elastic elements passively support more natural movements, facilitate safe interactions with the environment, and adapt to diverse task requirements. This paper presents a comprehensive overview of the platform and its functionalities, highlighting its potential applications in the field of prosthetics.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"154-159"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612621","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