IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第3页

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 Cross-Modal Matching for Multimodal Motor Rehabilitation. 优化多模态运动康复的跨模态匹配。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063112

Anway S Pimpalkar, A Michael West, Jing Xu, Jeremy D Brown

{"title":"Optimizing Cross-Modal Matching for Multimodal Motor Rehabilitation.","authors":"Anway S Pimpalkar, A Michael West, Jing Xu, Jeremy D Brown","doi":"10.1109/ICORR66766.2025.11063112","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063112","url":null,"abstract":"Stroke often causes sensorimotor deficits, impairing hand dexterity and disrupting independence for millions worldwide. While rehabilitation devices leveraging visual and haptic feedback show promise, their effectiveness is limited by a lack of perceptual equity, which is necessary to ensure fair comparisons between sensory modalities. This study refines cross-modal matching protocols to address this gap, enabling unbiased evaluation of multimodal feedback. Using the Hand Articulation and Neurotraining Device (HAND), 12 healthy participants matched visual and haptic stimuli in a structured task. A streamlined protocol, requiring just $2-3$ blocks and 3 reference intensities, reduced experimental time fivefold while preserving data integrity. Data were analyzed using linear and exponential models applied to both full and reduced datasets. The results demonstrated consistent participant performance across trials, with higher matching errors at greater stimulus intensities, likely attributable to sensory saturation effects. Furthermore, the study offered practical methodological insights, including the use of reduced data sampling paradigms to enhance experimental efficiency significantly while preserving data integrity. This work advances perceptual equity in multisensory feedback systems, addressing sensory encoding variability to support scalable, personalized therapeutic strategies for stroke recovery.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"559-566"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612672","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

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

Tifex-Py: Time-Series Feature Extraction for Python in a Human Activity Recognition Scenario. tifix - py：人类活动识别场景中Python的时间序列特征提取。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062978

Mehdi Ejtehadi, Gloria Edumaba Graham, Cailin Ringstrom, Elisa Du, Robert Riener, Diego Paez-Granados

{"title":"Tifex-Py: Time-Series Feature Extraction for Python in a Human Activity Recognition Scenario.","authors":"Mehdi Ejtehadi, Gloria Edumaba Graham, Cailin Ringstrom, Elisa Du, Robert Riener, Diego Paez-Granados","doi":"10.1109/ICORR66766.2025.11062978","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062978","url":null,"abstract":"Human Activity Recognition (HAR) is a valuable tool for healthcare and rehabilitation, enabling applications like remote patient monitoring and rehabilitation progress assessment. This paper introduces TIFEX-Py, a comprehensive Python toolbox designed for time series feature extraction in HAR. TIFEX-Py offers a rich set of 195 feature extraction methods across statistical, amplitude, spectral, and time-frequency domains. To evaluate its effectiveness, TIFEX-Py was applied to 11 publicly available HAR datasets: DSADS, HHAR, MHEALTH, MotionSense, PAMAP2, REALDISP, RealWorld, UniMiBSHAR, USC-HAD, WARD, and WISDM. Machine learning pipelines utilizing TIFEX-Py features, evaluated under both random and subject-stratified cross-validation settings, consistently achieved performance that is competitive with or superior to state-of-theart (SOTA) benchmark performances available for the datasets. In 11 out of 11 random split cross-validation scenarios, our pipeline surpassed or matched SOTA performance. For stratified by subject cross-validation, this was the case for more than half of the datasets. These results highlight the power of TIFEX-Py's feature space in representing time series data. TIFEX-Py is opensource and publicly available for researchers in rehabilitation and movement analysis fields.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1332-1339"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612732","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

EPIC-Tech - Engineering and Physiotherapy Interdisciplinary Collaboration with Technology: A Case Study. EPIC-Tech -工程和物理治疗与技术的跨学科合作：一个案例研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063109

Camila Shirota, Jacquelin Donovan, Catherine Cave, Sami A Kaab, Alejandro Melendez-Calderon

{"title":"EPIC-Tech - Engineering and Physiotherapy Interdisciplinary Collaboration with Technology: A Case Study.","authors":"Camila Shirota, Jacquelin Donovan, Catherine Cave, Sami A Kaab, Alejandro Melendez-Calderon","doi":"10.1109/ICORR66766.2025.11063109","DOIUrl":"10.1109/ICORR66766.2025.11063109","url":null,"abstract":"We present a case study investigating the impact of integrating a novel rehabilitation device (Andago) into physiotherapy services of a public hospital in Australia. A 3month baseline of usual therapy was compared to a 3-month trial which involved an implementation team consisting of a physiotherapist and a rehabilitation engineer supporting a new rehabilitation device being used in clinical practice. Therapists were free to use the Andago for therapy. The patient progressed from non-ambulatory during baseline to walking with single-person assistance by trial end. There was a higher proportion of therapy dedicated to walking when comparing baseline to trial phases, and when comparing Andago and usual therapy within the trial phase. However, therapists reported increased perceived strain and fatigue during Andago-assisted sessions. Therapist engagement with the Andago was moderate, with the device utilized in approximately one out of five sessions per week. The implementation team enabled safe and supported uptake of the novel device which was valued by the case study participant and their therapist. Findings suggest the Andago's potential to enhance gait training but highlight the need to address usability challenges and staff burden to optimize integration and adoption in clinical practice. We believe this can be addressed by better integration of clinicallyoriented engineers in the delivery of rehabilitation services.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1750-1754"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612569","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

Optimization of an Exosuit Design for Elbow and Shoulder Joints Considering Comfort and Safety. 考虑舒适性和安全性的肘关节和肩关节外露服设计优化。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062959

Pierre Garnault, Yannick Aoustin, Vigen Arakelian

引用次数: 0

A Home-Based Suite of Sensors for Monitoring and Improving Upper Extremity Proprioception After Stroke. 一套用于监测和改善中风后上肢本体感觉的家庭传感器。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063129

Guillem Cornella-Barba, Callen S Zimmer, Shusuke Okita, David J Reinkensmeyer

{"title":"A Home-Based Suite of Sensors for Monitoring and Improving Upper Extremity Proprioception After Stroke.","authors":"Guillem Cornella-Barba, Callen S Zimmer, Shusuke Okita, David J Reinkensmeyer","doi":"10.1109/ICORR66766.2025.11063129","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063129","url":null,"abstract":"Proprioception assessment and training are theoretically important in stroke rehabilitation because proprioception impairment contributes to reduced upper extremity (UE) function and is a promising predictor of the effectiveness of movement therapy. Currently, however, there are few tools available for home-based monitoring and training of proprioception. Here, we describe three tools that we are developing for UE proprioception rehabilitation that are suitable for home use. OpenPoint uses a webcam to automate UE proprioception assessment via a classic neurologic test: finger-to-finger pointing. Proprio gamifies proprioception training by embedding the finger-to-finger pointing test within a video game similar to GuitarHero. Diversify is an app on a smartwatch that provides feedback about the diversity of arm proprioceptive states associated with the variety of arm postures that an individual experiences throughout the day. We describe here the design of each system as well as preliminary testing results.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1542-1547"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612442","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

Design Evaluation of a Passive Ankle Exoskeleton for Gait Training. 用于步态训练的被动踝关节外骨骼设计评价。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063082

Mac Camardo, Leah O'Shea, Valentino Wilson, Courtney Celian, Adith V Srivatsa, Myunghee Kim, James L Patton

引用次数: 0