IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第4页

INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance. INSPIIRE-研究人类行走和平衡的模块化被动外骨骼。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304706

Tristan Vouga, Romain Baud, Jemina Fasola, Mohamed Bouri

{"title":"INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance.","authors":"Tristan Vouga, Romain Baud, Jemina Fasola, Mohamed Bouri","doi":"10.1109/ICORR58425.2023.10304706","DOIUrl":"10.1109/ICORR58425.2023.10304706","url":null,"abstract":"Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskeleton. This device constrains the movements of able-bodied subjects to only hip and knee flexions and extensions, similar to most current active exoskeletons. In this paper, we detail the modular design and the mechanical implementation of the device. In preliminary experiments, we tested whether humans are able to handle dynamic walking without crutches, despite the limitation of lateral foot placement and locked ankles. Five healthy subjects showed the ability to stand and ambulate at an average speed of 1 m/s after 5 minutes of self-paced training. We found that while the hip abduction/adduction is constrained, the foot placement was made possible thanks to the pelvis yaw and residual flexibility of the exoskeleton segments in the lateral plan. This result points out that INSPIIRE is a reliable instrument to learn sagitally-constrained human locomotion, and the potential of investigating more dynamic walking, which is shown as possible in this implementation, even if only flexion/extension of the hip and knee are allowed.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523557","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

Characterizing Eye Gaze for Assistive Device Control. 用于辅助设备控制的眼睛凝视特征。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304812

Larisa Y C Loke, Demiana R Barsoum, Todd D Murphey, Brenna D Argall

引用次数: 0

Creation and Evaluation of Human Models with Varied Walking Ability from Motion Capture for Assistive Device Development. 从运动捕捉到辅助设备开发的具有不同行走能力的人体模型的创建和评估。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304741

Sherwin Stephen Chan, Mingyuan Lei, Henry Johan, Wei Tech Ang

{"title":"Creation and Evaluation of Human Models with Varied Walking Ability from Motion Capture for Assistive Device Development.","authors":"Sherwin Stephen Chan, Mingyuan Lei, Henry Johan, Wei Tech Ang","doi":"10.1109/ICORR58425.2023.10304741","DOIUrl":"10.1109/ICORR58425.2023.10304741","url":null,"abstract":"As the world ages, rehabilitation and assistive devices will play a key role in improving mobility. However, designing controllers for these devices presents several challenges, from varying degrees of impairment to unique adaptation strategies of users. To use computer simulation to address these challenges, simulating human motions is required. Recently, deep reinforcement learning (DRL) has been successfully applied to generate walking motions whose goal is to produce a stable human walking policy. However, from a rehabilitation perspective, it is more important to match the walking policy's ability to that of an impaired person with reduced ability. In this paper, we present the first attempt to investigate the correlation between DRL training parameters with the ability of the generated human walking policy to recover from perturbation. We show that the control policies can produce gait patterns resembling those of humans without perturbation and that varying perturbation parameters during training can create variation in the recovery ability of the human model. We also demonstrate that the control policy can produce similar behaviours when subjected to forces that users may experience while using a balance assistive device.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523612","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

Evaluation of a Passive Wearable Device for Post-Stroke Shoulder Abduction Support. 一种用于中风后肩外展支撑的被动可穿戴设备的评估。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304815

Elizabeth D Vasquez, Cole S Simpson, Genggeng Zhou, Maarten Lansberg, Allison M Okamura

引用次数: 0

Exploiting Natural Locomotion Synergies to Incorporate Motion of Crutches for Adaptive Gait Pattern Shaping. 利用自然的运动协同作用，结合Crutches的运动进行自适应步态模式塑造。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304708

Hossein Karami, Stefano Maludrottu, Gaia Zinni, Christian Vassallo, Matteo Laffranchi, Lorenzo De Michieli

{"title":"Exploiting Natural Locomotion Synergies to Incorporate Motion of Crutches for Adaptive Gait Pattern Shaping.","authors":"Hossein Karami, Stefano Maludrottu, Gaia Zinni, Christian Vassallo, Matteo Laffranchi, Lorenzo De Michieli","doi":"10.1109/ICORR58425.2023.10304708","DOIUrl":"10.1109/ICORR58425.2023.10304708","url":null,"abstract":"This paper addresses the problem of online and adaptive gait pattern generation for powered lower-limb exoskeletons (PLLEs), exploiting the motion of sensorized crutches. We conduct a series of experiments with subjects walking with and without crutches to investigate the synergies of walking between upper and lower body segments, by adopting principal component analysis (PCA), We also evaluate the effect of using crutches on the walking synergies, and we demonstrate that upper and lower limb walking synergies undergo slight changes in that case. However, the upper and lower limb synergies remain evident and can be exploited in order to use the motion of crutches as an input to PLLEs to identify a desired motion of the lower limb. We propose a method to use the results of synergy analysis to shape gait parameters in the real-time control of PLLEs. To evaluate the scalability of our approach for real-world applications, we conduct a number of experiments with subjects wearing a PLLE and using sensorized crutches to adaptively change the gait parameters of walking steps, depending on upper body actions.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523632","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 Wearable Upper Extremity Rehabilitation Device for Inducing Arm Swing in Gait Training. 一种用于步态训练中诱导手臂摆动的可穿戴上肢康复装置。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304737

Jacob Bloom, Mohsen Alizadeh Noghani, Babak Hejrati

{"title":"A Wearable Upper Extremity Rehabilitation Device for Inducing Arm Swing in Gait Training.","authors":"Jacob Bloom, Mohsen Alizadeh Noghani, Babak Hejrati","doi":"10.1109/ICORR58425.2023.10304737","DOIUrl":"10.1109/ICORR58425.2023.10304737","url":null,"abstract":"This paper presents the design and validation of a proof-of-concept prototype for a wearable rehabilitation device to incorporate arm swing during gait rehabilitation. Unlike current stationary exoskeletons used for rehabilitation of upper limbs' function, assisting arm swing during gait requires inducing faster arm flexion/extension movements while maintaining the users' arms unconstrained in other directions. We developed a portable and underactuated system with features such as a large workspace and backdrivability to induce arm swing. Its wide workspace allowed the wearers to easily move their arms in different directions without any constraints. A modified double parallelogram linkage (mDPL) is proposed to allow the device to mimic the natural workspace of an arm. Additionally, a pulley drive and weight compensation system were created to place the motor on the users' back reducing the hindering weight of the actuators on their arms. Our experiments demonstrated this arm-swing rehabilitator could successfully induce arm movements at different arm configurations with low (0.67 Hz) and high (1.1 Hz) frequencies corresponding to slow and fast walking.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523587","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

Attention-Based Deep Recurrent Neural Network to Estimate Knee Angle During Walking from Lower-Limb EMG. 基于注意力的深度递归神经网络从下肢肌电信号估计步行过程中的膝关节角度。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304604

Mohamed Abdelhady, Diane L Damiano, Thomas C Bulea

{"title":"Attention-Based Deep Recurrent Neural Network to Estimate Knee Angle During Walking from Lower-Limb EMG.","authors":"Mohamed Abdelhady, Diane L Damiano, Thomas C Bulea","doi":"10.1109/ICORR58425.2023.10304604","DOIUrl":"10.1109/ICORR58425.2023.10304604","url":null,"abstract":"Accurate prediction of joint angle during walking from surface electromyography (sEMG) offers the potential to infer movement intention and therefore represents a potentially useful approach for adaptive control of wearable robotics. Here, we present the use of a recurrent neural network (RNN) with gated recurrent units (GRUs) and an attention mechanism to estimate knee angle during overground walking from sEMG and its initial offline validation in healthy adolescents. Our results show that the attention mechanism improved estimation accuracy by focusing on the most relevant parts of the input dataset within each time window, particularly muscles active during knee excursion. Sensitivity analysis revealed knee extensor and flexor muscles to be most salient in accurately estimating joint angle. Additionally, we demonstrate the ability of the GRU-RNN approach to accurately estimate knee angle during overground walking in a child with cerebral palsy (CP) in the presence of exoskeleton knee extension assistance. Collectively, our findings establish the initial feasibility of using this approach to estimate user movement from sEMG, which is particularly important for developing robotic exoskeletons for children with neuromuscular disorders such as CP.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523596","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

Automated Quantifiable Assessments of Sensorimotor Function Using an Instrumented Fragile Object. 使用仪器化脆性物体进行感觉运动功能的自动量化评估。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304693

Michael D Adkins, Monika K Buczak, Connor D Olsen, Marta M Iversen, Jacob A George

{"title":"Automated Quantifiable Assessments of Sensorimotor Function Using an Instrumented Fragile Object.","authors":"Michael D Adkins, Monika K Buczak, Connor D Olsen, Marta M Iversen, Jacob A George","doi":"10.1109/ICORR58425.2023.10304693","DOIUrl":"10.1109/ICORR58425.2023.10304693","url":null,"abstract":"Accurate assessment of hand dexterity plays a critical role in informing rehabilitation and care of upper-limb hemiparetic stroke patients. Common upper-limb assessments, such as the Box and Blocks Test and Nine Hole Peg Test, primarily evaluate gross motor function in terms of speed. These assessments neglect an individual's ability to finely regulate grip force, which is critical in activities of daily living, such as manipulating fragile objects. Here we present the Electronic Grip Gauge (EGG), an instrumented fragile object that assesses both gross and fine motor function. Embedded with a load cell, accelerometer, and Hall-effect sensor, the EGG measures grip force, acceleration, and relative position (via magnetic fields) in real time. The EGG can emit an audible \"break\" sound when the applied grip force exceeds a threshold. The number of breaks, transfer duration, and applied forces are automatically logged in real-time. Using the EGG, we evaluated sensorimotor function in implicit grasping and gentle grasping for the non-paretic and paretic hands of 3 hemiparetic stroke patients. For all participants, the paretic hand took longer to transfer the EGG during implicit grasping. For 2 of 3 participants, grip forces were significantly greater for the paretic hand during gentle grasping. Differences in implicit grasping forces were unique to each participant. This work constitutes an important step towards more widespread and quantitative measures of sensorimotor function, which may ultimately lead to improved personalized rehabilitation and better patient outcomes.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523599","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

Bill-EVR: An Embodied Virtual Reality Framework for Reward-and-Error-Based Motor Rehab-Learning. Bill EVR：基于奖励和错误的运动康复学习的虚拟现实框架。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304742

Federico Nardi, Shlomi Haar, A Aldo Faisal

{"title":"Bill-EVR: An Embodied Virtual Reality Framework for Reward-and-Error-Based Motor Rehab-Learning.","authors":"Federico Nardi, Shlomi Haar, A Aldo Faisal","doi":"10.1109/ICORR58425.2023.10304742","DOIUrl":"10.1109/ICORR58425.2023.10304742","url":null,"abstract":"VR rehabilitation is an established field by now, however, it often refers to computer screen-based interactive rehabilitation activities. In recent years, there was an increased use of VR-headsets, which can provide an immersive virtual environment for real-world tasks, but they are lacking any physical interaction with the task objects and any proprioceptive feedback. Here, we focus on Embodied Virtual Reality (EVR), an emerging field where not only the visual input via VR-headset but also the haptic feedback is physically correct. This happens because subjects interact with physical objects that are veridically aligned in Virtual Reality. This technology lets us manipulate motor performance and motor learning through visual feedback perturbations. Bill-EVR is a framework that allows interventions in the performance of real-world tasks, such as playing pool billiard, engaging end-users in motivating life-like situations to trigger motor (re)learning - subjects see in VR and handle the real-world cue stick, the pool table and shoot physical balls. Specifically, we developed our platform to isolate and evaluate different mechanisms of motor learning to investigate its two main components, error-based and reward-based motor adaptation. This understanding can provide insights for improvements in neurorehabilitation: indeed, reward-based mechanisms are putatively impaired by degradation of the dopaminergic system, such as in Parkinson's disease, while error-based mechanisms are essential for recovering from stroke-induced movement errors. Due to its fully customisable features, our EVR framework can be used to facilitate the improvement of several conditions, providing a valid extension of VR-based implementations and constituting a motor learning tool that can be completely tailored to the individual needs of patients.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2023 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71523600","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

Damping TENS-Induced Essential Tremor Symptoms in Activities of Daily Living Using the TuMove Wrist Exoskeleton. 使用TuMove腕关节外骨骼在日常生活活动中阻尼TENS诱发的原发性震颤症状。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304605

Jose Arturo Garcia-Higuera, Natalia Paredes-Acuna, Thien Le, Benoit Auclair, Klara Tomaskovic, Nicolas Berberich, Gordon Cheng

引用次数: 0