IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献

{"title":"Stimulation in Training Data to Improve Proportional Motor Control in a Dexterous Sensorimotor Task.","authors":"Caroline H Casumpang, Nathan Griffin, Mark Brinton","doi":"10.1109/ICORR66766.2025.11062989","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062989","url":null,"abstract":"<p><p>While electrocutaneous stimulation provides a lowcost approach to sensory feedback, it produces signal artifact which corrupts sEMG and can create errors in sEMG motor control. Eight volunteers with intact limbs controlled a 5-degree-of-freedom virtual hand using surface electromyography. The hand was trained by mimicking flexion and extension of each degree-of-freedom five times, holding each position for three seconds. Participants received sensory feedback in the form of electrocutaneous stimulation: 100 microsecond pulses at 100 Hz with amplitude linearly proportional to the force experienced by the index finger while pressing a virtual block. We compared ability to discriminate between block compliance when using training data with and without stimulation artifact. Though not statistically significant, randomly occurring stimulation during training improved ability to discriminate more compliant objects from 76 to 82 % and 72 to 85 % correct for two proportional control algorithms-a modified Kalman filter and a convolutional neural network. This approach requires no extra computational resources while providing improved motor control for bidirectional prostheses.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"816-820"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612722","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}

{"title":"Synchronicity: A Measure of Multi-Joint Movement Coordination in Device Assessment.","authors":"Yuri Gloumakov, Erin Y Chang, Hannah S Stuart","doi":"10.1109/ICORR66766.2025.11063008","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063008","url":null,"abstract":"<p><p>This work explores the concept of movement coordination over time; smooth multi-joint gestures are a hallmark of healthy and normative body function. Deviations from normative movement coordination are linked to various health conditions, such as stroke or injury, and can lead to further complications if not addressed. Identifying abnormal movement and quantifying its degree is therefore crucial. Although some quantitative assessments exist, final evaluations often require expert input from occupational or physical therapists. We investigate the characterization of joint movements using motion capture as an objective indicator of synchronous behavior and propose a new quantitative metric to assess device and rehabilitation interventions, synchronicity. We apply our metric to three studies with various populations that compare normative hand use to movement with wrist braces, transradial prostheses, and a wrist exoskeleton, revealing that synchronicity may be an indicator of device embodiment and function.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"295-300"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612725","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}

{"title":"General Purpose Haptic/Biometric-Based Dynamic Difficulty Adjustment for Post-Stroke Upper-Limb Rehabilitation Games.","authors":"Yiyang Shang, Sasan Bahrami, Samuel Gaardsmoe, Alwyn Johnson, Michelle J Johnson, Paul Diefenbach","doi":"10.1109/ICORR66766.2025.11062998","DOIUrl":"10.1109/ICORR66766.2025.11062998","url":null,"abstract":"<p><p>Rehabilitation therapy can be more effective and engaging when interactive technologies are involved. To enhance this experience, we integrated a haptic/biometric-based (HBB) Dynamic Difficulty Adjustment (DDA) system into the enAblegames ${}^{text {TM}}$ platform, which already uses body tracking for therapeutic gaming. This system adapts game and haptic difficulty in real time based on each patient's biometric data and performance, making therapy more personalized. We tested this system with 11 participants, comparing their experiences with and without DDA. The results were promising-36% preferred DDA-enhanced games, compared to just $mathbf{7 %}$ for non-DDA, and in a single-game scenario, preference for DDA increased by 50 %. These early findings suggest that HBB-DDA can make rehabilitation more engaging and tailored to individual needs. While more research is needed to understand its full impact, this system has the potential to improve patient experience and therapy outcomes.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"248-253"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12861167/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Novel Robotic Technique for Evaluating Thumb Proprioception Predicts Hand Function After Stroke.","authors":"Luis Garcia-Fernandez, Andria Farrens, Raymond Rojas, Vicky Chan, Eric Wolbrecht, Joel C Perry, David J Reinkensmeyer","doi":"10.1109/ICORR66766.2025.11063148","DOIUrl":"10.1109/ICORR66766.2025.11063148","url":null,"abstract":"<p><p>The thumb has been called a \"hallmark of humanity\", and yet, in stroke rehabilitation, there are few studies that have examined thumb function and even fewer that have focused specifically on thumb sensory function. Here we describe a novel robotic technique to assess thumb proprioception and apply it to quantify the relationship between thumb proprioception and hand function after stroke. Based on a video game, \"SomatoCircleJump\" challenges participants to \"jump\" to radial targets presented on a screen as their thumb rotates around a circle, driven by a robot. Proprioceptive ability is quantified by radial jump error. We evaluated 35 individuals in the chronic phase post-stroke as part of a randomized controlled trial of robotic finger training. Compared to an agematched control group, people with stroke had significantly increased jump error ($mathrm{p}<text{0. 0 0 1}$). Thumb proprioception ability predicted hand function, as measured by the Box and Block Test score ($rho=-0.44, mathrm{p}=0.01$) and the Nine-Hole Peg Test time ($rho= 0.49, mathrm{p}=0.006$). Jump error was also correlated with an independent robotic measure of finger proprioception ($rho=0.54, mathrm{p}=0.003$). These results validate a novel robotic method to quantify thumb proprioception and indicate thumb proprioception deficits are common after stroke, co-occur with finger proprioception deficits, and relate to functional hand ability.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"761-766"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612447","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}

{"title":"Design of a Rope-Driven Finger Exoskeleton System with a Universal Double Grooved Roller for Adaptive Rehabilitation.","authors":"Wenqi Li, Le Bao, Wansoo Kim","doi":"10.1109/ICORR66766.2025.11063106","DOIUrl":"10.1109/ICORR66766.2025.11063106","url":null,"abstract":"<p><p>Impaired hand function caused by neurological conditions, such as stroke, severely limits individuals' ability to perform daily tasks, highlighting the importance of accessible rehabilitation devices. Although the double grooved roller design in existing rope-driven exoskeletons reduces weight and enhances compactness, the different amount of change in the upper and lower traction cords when the fingers are flexed and torsioned can easily lead to slack and slippage of the traction cords, which affects the accuracy of movement. To address these limitations, a rope-driven exoskeleton system with a universal double grooved roller is designed for assisting finger movement based on a study of the index finger. In order to enhance the universal performance of the exoskeleton, in this study, 40 groups of index finger flexion and extension movements with upward and downward stretching are collected and statistically analyzed to find out the universal ratio of double grooved rollers. The experiment tested the finger-driving capability of the exoskeleton device, achieving a range of motion up to 94% of unassisted natural motion, with stable performance during repetitive movements. Additionally, the finger-driving success rate for seven subjects with varying finger sizes reached 100%, and the test results were analyzed in detail. The designed system demonstrates feasibility, reliability, and universality, offering a viable new solution for adaptive hand rehabilitation.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"289-294"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612460","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}

{"title":"Towards the Development of Dynamic Hand Orthosis Without Conventional Joints.","authors":"Leon Schaeffer, Felix Rambach, Theresa Schmauber, David Herrmann, Lukas Lehmann, Valter Boehm","doi":"10.1109/ICORR66766.2025.11063085","DOIUrl":"10.1109/ICORR66766.2025.11063085","url":null,"abstract":"<p><p>The human hand is an exceptionally complex anatomical structure with 31 degrees of freedom. In the development of dynamic wrist-hand orthoses, the wrist's multiaxial mobility is of particular interest. To accurately replicate these natural movements, a promising approach is the use of compliant tensegrity structures. Tensegrity structures allow pivot points and axes of rotation to align with anatomical positions, enabling unrestricted mobility in all directions without conventional joints. Additionally, they permit customized movement restrictions based on therapeutic needs. The orthosis's minimalist, lightweight design ensures both effective joint stabilization and free access to key injured regions. Customizing each orthosis to the patient's unique anatomy and functional needs is crucial to prevent unnecessary strain from improper positioning. The positioning of the orthosis is directly linked to the forces applied to the wrist while using. A precise understanding of the behavior of the orthosis and its influence on the wrist forces present is therefore essential. This work explores key aspects of tensegrity-based orthosis development, emphasizing accurate 3D scanning of hand anatomy, initial experimental measurements, and simulated calculations. The proposed methodology provides a solid foundation for the design of initial prototypes of tensegrity-based hand orthoses.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"501-506"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612638","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}

{"title":"Exploring Synergy Between Tactile Perception and Arm Usage.","authors":"Yuhe Chen, Jonathan van Zanten, Michael Wiertlewski, Arno Stienen","doi":"10.1109/ICORR66766.2025.11062930","DOIUrl":"10.1109/ICORR66766.2025.11062930","url":null,"abstract":"<p><p>Stroke causes severe tactile deficiencies which affects motor control when grasping and lifting objects. Understanding the fundamental neural disorders associated with tactile deficits is crucial to developing rehabilitation and treatment plans correspondingly. Earlier studies have studied the dynamics between finger grasping behavior and arm muscle activation in stroke patients. However, the exact neuromuscular synergy of tactile perception and arm usage is left unexplored. Here we designed a comprehensive experiment platform and tested the potential synergy on 12 healthy young adults, serving as a control group to establish a foundation for future studies on stroke patients. The experimental platform consists of a lever arm on which torques can be applied to the subject's arm. The end effector is equipped with a special ultrasonic friction modulation plate that can reduce the apparent friction of the object by up to 63 %, simulating real-world grasping tasks in a controlled setting. The experiments were performed under varying conditions of friction and arm usage. Results indicate significant effects of tactile stimulation on grasping force adaptation ($p<0.05$ in 8 of 12 experimental conditions). In the meantime, arm usage did not show a significant synergy with tactile perception ($p=0.44$ in grasping force adaptation amplitude, and $p=0.73$ in reflex delay). These findings demonstrate that the experimental platform can provide insights into human tactile behaviors, which is critical for studying tactile sensory and motor control synergy. The results will lay the groundwork for future research on underlying pathologies and rehabilitation strategies for stroke patients.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"320-325"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612580","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}

{"title":"HADAR Hand: 13-DoF Hybrid Actuation-Based Dextrous Anthropomorphic Robotic Hand.","authors":"Prashanth Jonna, Madhav Rao","doi":"10.1109/ICORR66766.2025.11062954","DOIUrl":"10.1109/ICORR66766.2025.11062954","url":null,"abstract":"<p><p>Dextrous robotic hand designs are pivotal in advancing the field of hand prosthetics, enabling users to perform robust grasping tasks essential for daily activities and improved quality of life. However, the widespread adoption of such dextrous hand prosthetics remains hindered by prohibitive costs that arise from the high number of actuators used to replicate natural human hand movements. This research seeks to address this challenge by critically evaluating the necessity of replicating many human hand DoFs and instead proposing a design that achieves 95% of human grasp configurations with a significantly reduced actuator count compared to conventional biomimetic robotic hands. We present the Hybrid-Actuated dextrous Anthropomorphic Robotic (HADAR) Hand, a novel 13-DoF robotic hand optimised for dextrous object grasping with a high degree of visual anthropomorphism. The HADAR Hand employs a hybrid actuation strategy, combining linkagedriven mechanisms for robust proximal joint control and tendon-based actuation for compliant distal joint movement, which is essential for delicate object handling. Utilizing insights from long-term occupational studies and Functional Range of Motion (FROM) data, rigid and elastomeric couplings were developed to bring down the actuator count to less than half the number of major tendons present in the human hand without compromising on the ability to perform human-like grasp configurations. Comprehensive performance evaluations validate the HADAR Hand's capabilities, with results demonstrating success in replicating hand grasps as per Cutkosky's taxonomy (14/15), Feix's GRASP taxonomy (31/33), and the Kapandji thumb opposability test (6/10). To promote accessibility and reproducibility, the HADAR Hand leverages cost-effective, widely available actuators, additive manufacturing techniques, and a compact, two-layer PCB capable of concurrently driving all 13 N20 DC motors that drive the HADAR Hand. This work represents a significant step in developing affordable, highperformance prosthetics and robotic hands.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"712-717"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612597","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}

{"title":"Optimization of an Exosuit Design for Elbow and Shoulder Joints Considering Comfort and Safety.","authors":"Pierre Garnault, Yannick Aoustin, Vigen Arakelian","doi":"10.1109/ICORR66766.2025.11062959","DOIUrl":"10.1109/ICORR66766.2025.11062959","url":null,"abstract":"<p><p>To ensure comfort and safety in the design of wearable robots, a multi-objective optimization method is defined for shoulder and elbow assistance. This optimization method is evaluated with a simulation platform implemented on Matlab integrating biomechanical features from the software OpenSim. Thus, the interaction forces between skin and cuffs and the metabolic cost could be estimated during design phase. Finally a drinking task trajectory is carried out to validate the efficiency of wearing an exosuit reducing the fatigue by 32%.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"30-35"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612661","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}

{"title":"Unsupervised Robot-Assisted Therapy at Home After Stroke: a Pilot Feasibility Study.","authors":"Giada Devittori, Daria Dinacci, Claudio Petrillo, Paolo Rossi, Roger Gassert, Olivier Lambercy","doi":"10.1109/ICORR66766.2025.11062934","DOIUrl":"10.1109/ICORR66766.2025.11062934","url":null,"abstract":"<p><p>Unsupervised robot-assisted therapy could allow increasing upper limb therapy dose for stroke survivors with minimal additional burden on the healthcare system. Thanks to the ability to actively assist movement and dynamically adapt the assistance level, actuated devices can support individuals with a wide range of deficits. However, these devices are often complex to use, and their application in a fully unsupervised setting has rarely been explored. Here, we present a pilot study investigating the feasibility of unsupervised therapy with ReHandyBot, an actuated device for upper limb rehabilitation. The increase in therapy dose achieved during unsupervised training, device usability and user experience were evaluated. Stroke inpatients of a rehabilitation clinic learned how to use the device for two weeks with progressively decreasing levels of supervision. After discharge, they could take it home for two weeks of unsupervised therapy. Four of the five recruited participants learned how to use the device without supervision, and three completed the protocol. During the two weeks at home, on average they performed 518.3 minutes of therapy with ReHandyBot. Usability and user experience ratings show that the device was well accepted. These positive results support larger studies investigating unsupervised home therapy with ReHandyBot and suggest that active devices can be used by patients with no to mild cognitive impairments at home without the supervision of external persons.</p>","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"166-171"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612643","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}