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

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

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

Investigation of Delays and Connection Stability in Teleoperation via VR Capabilities for Remote Exoskeleton-Aided Physiotherapy. 基于VR功能的远程外骨骼辅助物理治疗的延迟和连接稳定性研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063170

Piotr Falkowski, Krzysztof Zawalski, Kajetan Jeznach, Jan Oleksiuk, Mehmet Emin Aktan, Vasfi Emre Omurlu, Pawel Niedbalski, Erhan Akdogan, Piotr Kolodziejski

{"title":"Investigation of Delays and Connection Stability in Teleoperation via VR Capabilities for Remote Exoskeleton-Aided Physiotherapy.","authors":"Piotr Falkowski, Krzysztof Zawalski, Kajetan Jeznach, Jan Oleksiuk, Mehmet Emin Aktan, Vasfi Emre Omurlu, Pawel Niedbalski, Erhan Akdogan, Piotr Kolodziejski","doi":"10.1109/ICORR66766.2025.11063170","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063170","url":null,"abstract":"The research paper examines the challenges of remote control delays in exoskeleton-aided physiotherapy. It focuses on the implications of telerehabilitation requirements for safe treatment. As the global share of disabled and elderly people increases, the demand for effective teleoperated physiotherapy solutions rises, necessitating precise control over robotic systems. The study utilizes a mixed-methods approach to assess delays in communication between a rehabilitation exoskeleton and the control system's based on the digital twin in VR (virtual reality) components at different stages. Moreover, additional delays coming from distant operations are assessed. Key findings reveal that the average latency for joint control on shorter distances remains below 300 ms-considered acceptable for comfortable manual teleoperation. The delays between setting the device's configuration and reaching it by a physical exoskeleton differ for particular joints and depend mainly on the torque-to-moment of inertia ratio. The total communication cycle should not exceed 400 ms, which can be further reduced by using a 6G network in the future or ADS (Automation Device Specification) communication protocol instead of the database. Ultimately, the study provides a foundation for developing algorithms that can mitigate delays and improve the efficacy of telehealth solutions with physically supportive devices.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"308-313"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612624","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

Towards Unsupervised Incremental and Proportional Myocontrol Based on Higher-Density Surface Electromyography. 基于高密度表面肌电图的无监督增量和比例肌控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063080

Alisa Schulz, Fabio Egle, Marius Osswald, Alessandro Del Vecchio, Claudio Castellini

{"title":"Towards Unsupervised Incremental and Proportional Myocontrol Based on Higher-Density Surface Electromyography.","authors":"Alisa Schulz, Fabio Egle, Marius Osswald, Alessandro Del Vecchio, Claudio Castellini","doi":"10.1109/ICORR66766.2025.11063080","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063080","url":null,"abstract":"Upper limb differences present tremendous challenges for autonomy in daily living, and current prostheses often face high abandonment rates due to complexity and lack of functionality. This study investigates fully unsupervised incremental myocontrol using higher-density surface EMG. Utilizing incremental sparse non-negative matrix factorization (ISNMF), we employed two 32-channel sEMG bracelets to incrementally extract muscle synergies from EMG signals in real-time. Eight able-bodied participants underwent this unsupervised training paradigm with an increasing number of target synergies and were evaluated with a virtual target achievement control (TAC) test. Participants demonstrated up to six independently controllable synergies in full-intensity tasks, exceeding the current state of the art. However, proportional control remained challenging, reflected in a median success rate of 10% for half-intensity targets. Subjective feedback across the number of synergies showed only small variations in cognitive and physical workload despite increased complexity. This approach shows promise for enabling fully unsupervised myocontrol, but further refinement of training protocol and hyperparameters, as well as testing on users with limb differences, are necessary to validate and improve this approach.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1106-1111"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612639","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

Muscle Synergies During Gait of Functionally-Dependent Subacute Stroke Survivors Before and After Robotic Rehabilitation. 机器人康复前后功能依赖性亚急性中风幸存者步态中的肌肉协同作用。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063159

Agnese Cherubini, Clara Sanchez Del Valle, Natacha Leon, Jesus Tornero, Juan C Moreno, Clara B Sanz-Morere

引用次数: 0

Optimizing the Myokinetic Interface: A Finite Element Model to Predict Displacement in Amputated Muscles. 优化肌动力学界面：预测截肢肌肉位移的有限元模型。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063137

Flavia Paggetti, Marta Gherardini, Alessandro Lucantonio, Christian Cipriani

{"title":"Optimizing the Myokinetic Interface: A Finite Element Model to Predict Displacement in Amputated Muscles.","authors":"Flavia Paggetti, Marta Gherardini, Alessandro Lucantonio, Christian Cipriani","doi":"10.1109/ICORR66766.2025.11063137","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063137","url":null,"abstract":"In recent years, a novel human-machine interface for prosthetic control has been developed: the myokinetic interface, which decodes the user intent by monitoring the displacement of implanted magnets in the muscles. Simulations and the first in-human demonstration of this interface indicate that the placement of the magnets is crucial for the range and stability of the control signals. Therefore, a preoperative estimation of individual muscle displacement is necessary to identify optimal implantation regions and generate synthetic datasets of magnet displacement. In this study, we developed a finite element model of pennate muscles, calibrated and validated using the geometries of healthy muscles and in vivo measurements from healthy subjects. The performance of the model was further assessed on three amputated muscles by comparing simulations with in vivo data from a limb-impaired individual. Overall, the simulation results aligned well with experimental data, with average errors below 0.7 mm for the healthy muscles and 1.7 mm for the amputated ones. These results suggest that this model could serve as a valuable tool for optimizing surgical procedures and control strategies prior to clinical implementation. This framework could be expanded to investigate muscle behavior in different amputee populations or individuals with neuromuscular diseases, to enhance understanding of muscle biomechanics and advance the design of personalized rehabilitation devices.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"376-381"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612675","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