IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第6页

Muscle Network Analysis of a Dynamic Bilateral Task with an Upper Limb Exoskeleton. 上肢外骨骼动态双侧任务的肌肉网络分析。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063072

Vladimiro Suglia, Cristian Camardella, Gianluca Rinaldi, Domenico Chiaradia, Domenico Buongiorno, Hui Zhou, Antonio Frisoli, Daniele Leonardis, Vitoantonio Bevilacqua

{"title":"Muscle Network Analysis of a Dynamic Bilateral Task with an Upper Limb Exoskeleton.","authors":"Vladimiro Suglia, Cristian Camardella, Gianluca Rinaldi, Domenico Chiaradia, Domenico Buongiorno, Hui Zhou, Antonio Frisoli, Daniele Leonardis, Vitoantonio Bevilacqua","doi":"10.1109/ICORR66766.2025.11063072","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063072","url":null,"abstract":"The coordination between muscles during the execution of a bilateral task can be analyzed by recurring to functional muscle networks, which indicates how human muscles are mutually synchronized - i.e., share an oscillatory common input - during the motor task. So far, no studies have studied the impact of an assistive exoskeleton on the neural substrates of human muscles. This work addresses this question by extracting functional muscle networks of healthy individuals during the execution of a bilateral dynamic task without and with the support of a shoulder exoskeleton. The outcomes have revealed a global stationarity of these networks, together with a slight change of synergies' shape, reflecting how the employed assistive device can change physiological patterns from both temporal and frequency domains. Despite the limited sample size, the authors claim the potential of functional connectivity analysis as an additional tool for the evaluation of inter-muscular coordination for such clinical purposes as rehabilitation robotics.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"419-424"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612650","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 Synergy Analysis of Healthy Subjects Using a Soft Elbow Exosuit During Load-Carrying Tasks. 健康受试者在负重任务中使用软性肘部外套的肌肉协同分析。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063119

Ali KhalilianMotamed Bonab, Cristian Camardella, Antonio Frisoli, Domenico Chiaradia

{"title":"Muscle Synergy Analysis of Healthy Subjects Using a Soft Elbow Exosuit During Load-Carrying Tasks.","authors":"Ali KhalilianMotamed Bonab, Cristian Camardella, Antonio Frisoli, Domenico Chiaradia","doi":"10.1109/ICORR66766.2025.11063119","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063119","url":null,"abstract":"Soft assistive wearable robotics, or soft exosuits, have shown great potential in enhancing human motor function while preserving the user's natural movement. They are increasingly used to reduce fatigue and the risk of injury during physically demanding tasks and everyday activities. A deeper understanding of how assistive forces from soft exoskeletons influence muscle coordination during various tasks is crucial for developing optimized control and rehabilitation strategies for these devices. This study investigates muscle synergies in healthy participants carrying loads, as often performed in daily activities, over an extended period, both with and without the assistance of a soft elbow exosuit. Synergies similarity was analyzed by comparing the extracted patterns in both conditions, as well as their composition in terms of muscle contributions. The results show that, on average, in the with-exosuit condition fewer synergies are required to explain the performed movements. This suggests the idea that the assistive device \"aggregates\" motor primitives while reducing muscle activation. Furthermore, we found that synergies dominated by the wrist flexor, biceps, and infraspinatus were not altered by the exosuit assistance. However, the deltoid-dominated synergy observed during load carrying without the exosuit was altered by the exosuit assistance, shifting to a triceps-dominated synergy.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"718-723"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612652","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

Personalized Range of Motion Scaled Wrist Pointing for Robotic- Based Motor Impairment Assessment. 基于机器人的运动损伤评估的个性化运动范围缩放手腕指向。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063030

Elijah Rice, Marcia K O'Malley

{"title":"Personalized Range of Motion Scaled Wrist Pointing for Robotic- Based Motor Impairment Assessment.","authors":"Elijah Rice, Marcia K O'Malley","doi":"10.1109/ICORR66766.2025.11063030","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063030","url":null,"abstract":"Movement smoothness is a commonly employed metric of motor impairment in stroke patients due to a strong correlation with Fugl-Meyer Assessment score, and because it can be assessed with functional-oriented tasks like wrist pointing. Robotic assessments of wrist-pointing tasks typically use targets located at fixed points in the workspace, which can exceed the range of motion (ROM) of stroke patients who exhibit severe motor impairment. We hypothesize that movement smoothness assessed based on movements that do not reach visual targets may conflate assessment of movement smoothness with ROM. We propose that scaling the locations of wrist pointing targets for wrist flexion-extension and radial-ulnar movements from a ROM assessment will better reflect movement characteristics. In this paper, we analyze wrist-pointing movements for fixed and ROM-scaled target locations. We evaluate wrist-pointing performance in both conditions for 8 neurologically-intact participants whose wrist ROM was constrained with a wrist brace simulating ROM deficits present after stroke. Results show that failing to reach targets during wrist pointing has a significant negative impact on movement smoothness. Additionally, scaling target placement to ROM increases the proportion of targets reached while producing practically equivalent movement smoothness to successfully reached fixed target locations. These findings support incorporation of ROM-scaled target placement into movement smoothness assessment.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1706-1711"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612680","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

Real-Time Open Source Kinematic Estimation with Wearable IMUs. 基于可穿戴imu的实时开源运动估计。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063160

Chenquan Xu, Yuanshuo Tan, Zach Strout, Guoxing Liu, Kezhe Zhu, Peter Shull

{"title":"Real-Time Open Source Kinematic Estimation with Wearable IMUs.","authors":"Chenquan Xu, Yuanshuo Tan, Zach Strout, Guoxing Liu, Kezhe Zhu, Peter Shull","doi":"10.1109/ICORR66766.2025.11063160","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063160","url":null,"abstract":"Despite the growing demand for healthcare services due to an aging population, patients may avoid traditional rehabilitation centers due to high costs, discomfort, and time constraints associated with in-person assessments. Home-based rehabilitation offers a promising alternative, but effective kinematic monitoring and assessment remain challenging, especially for real-time applications. To address this gap, we have developed real-time, full-body kinematic analysis and visualization based on 12 wearable inertial measurement units (IMUs). Full body real-time kinematics estimation (20 Hz) was evaluated during walking, running, squatting, boxing, yoga, dance, badminton, and various seated extremity exercises and IMU estimations were compared with optical motion capture to determine accuracy. Results showed that walking was the most accurate with 5.4 deg median RMSE, and the overall median RMSE was 7.2 deg for all activities. A mean of 1.0 deg RMSE against offline computations (100 Hz) was also demonstrated, with a mean latency of 44.1 ms from sensor data acquisition to kinematic output. This approach holds the potential to revolutionize rehabilitation by enabling rapid assessment and real-time biofeedback for motion performance in orthopedic and neurological conditions and could significantly enhance treatment outcomes and patient compliance.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"301-307"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612696","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

Robotic-Assisted Leg Stretching Techniques Facilitated by a Powered Exercise Machine and Functional Electrical Stimulation. 由动力运动机器和功能性电刺激促进的机器人辅助腿部伸展技术。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063122

Steven Evangelos, Nicholas Rubino, Steven W Brose, Victor H Duenas

{"title":"Robotic-Assisted Leg Stretching Techniques Facilitated by a Powered Exercise Machine and Functional Electrical Stimulation.","authors":"Steven Evangelos, Nicholas Rubino, Steven W Brose, Victor H Duenas","doi":"10.1109/ICORR66766.2025.11063122","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063122","url":null,"abstract":"Flexibility training involving stretching aims to increase the range of motion (ROM) about a joint and mitigate factors that limit mobility. Stretching has been used for improving human performance and preventing injuries. Further, stretching can be used as spasticity treatment in people with spinal cord injury to provide relief from muscle spasms and improve passive ROM. Therapists apply manual stretching to participants; however, providing personalized and repeatable stretching forces is caregiver intensive. This paper describes the methods to apply three stretching techniques and determines the feasibility of implementing their protocols using a powered device and open-loop Functional Electrical Stimulation (FES) patterns. This paper develops a robust kinematic closed-loop controller to emulate the static, activeisolated (AIS), and proprioceptive neuromuscular facilitation (PNF) stretching techniques targeting the hamstring complex in which the human lies in a supine position. The robust electric motor controller rotates the leg from its initial position through a desired ROM using a rigid pivot arm actuated by a Bowden cable. When the leg reaches the target end ROM, FES inputs are applied for AIS and PNF stretching. Experiments were safely conducted in two able-bodied individuals to demonstrate the device's feasibility of implementing each stretching technique on the hamstring complex. A Lyapunov stability analysis ensures exponential tracking of the motor controller.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"583-588"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612710","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

Skeleton-Based Transformer for Classification of Errors and Better Feedback in Low Back Pain Physical Rehabilitation Exercises. 基于骨骼的变压器在腰痛物理康复训练中的错误分类和更好的反馈。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063192

Aleksa Marusic, Sao Mai Nguyen, Adriana Tapus

{"title":"Skeleton-Based Transformer for Classification of Errors and Better Feedback in Low Back Pain Physical Rehabilitation Exercises.","authors":"Aleksa Marusic, Sao Mai Nguyen, Adriana Tapus","doi":"10.1109/ICORR66766.2025.11063192","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063192","url":null,"abstract":"Physical rehabilitation exercises suggested by healthcare professionals can help recovery from various musculoskeletal disorders and prevent re-injury. However, patients' engagement tends to decrease over time without direct supervision, which is why there is a need for an automated monitoring system. In recent years, there has been great progress in quality assessment of physical rehabilitation exercises. Most of them only provide a binary classification if the performance is correct or incorrect, and a few provide a continuous score. This information is not sufficient for patients to improve their performance. In this work, we propose an algorithm for error classification of rehabilitation exercises, thus making the first step toward more detailed feedback to patients. We focus on skeleton-based exercise assessment, which utilizes human pose estimation to evaluate motion. Inspired by recent algorithms for quality assessment during rehabilitation exercises, we propose a Transformer-based model for the described classification. Our model is inspired by the HyperFormer method for human action recognition, and adapted to our problem and dataset. The evaluation is done on the KERAAL dataset, as it is the only medical dataset with clear error labels for the exercises, and our model significantly surpasses state-of-the-art methods. Furthermore, we bridge the gap towards better feedback to the patients by presenting a way to calculate the importance of joints for each exercise.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1274-1280"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612717","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

Stimulation in Training Data to Improve Proportional Motor Control in a Dexterous Sensorimotor Task. 训练数据刺激提高灵巧感觉运动任务中比例运动控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062989

Caroline H Casumpang, Nathan Griffin, Mark Brinton

{"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":"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.","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}

引用次数: 0

Synchronicity: A Measure of Multi-Joint Movement Coordination in Device Assessment. 同步性：器械评估中多关节运动协调的一种测量方法。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063008

Yuri Gloumakov, Erin Y Chang, Hannah S Stuart

引用次数: 0

A Novel Robotic Technique for Evaluating Thumb Proprioception Predicts Hand Function After Stroke. 一种评估拇指本体感觉的新型机器人技术预测中风后的手功能。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063148

Luis Garcia-Fernandez, Andria Farrens, Raymond Rojas, Vicky Chan, Eric Wolbrecht, Joel C Perry, David J Reinkensmeyer

{"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":"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.","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}

引用次数: 0

Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment. 膝关节外骨骼的人机界面动力学与横向和前后附着。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062962

Yichen Wang, Jose A Montes Perez, Robert D Gregg, Gray C Thomas

{"title":"Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment.","authors":"Yichen Wang, Jose A Montes Perez, Robert D Gregg, Gray C Thomas","doi":"10.1109/ICORR66766.2025.11062962","DOIUrl":"10.1109/ICORR66766.2025.11062962","url":null,"abstract":"Assistive lower-body exoskeletons aim to improve quality of life for broad populations including older adults and people in physically exhausting manual jobs. By applying torque to augment human motion with backdrivable actuators, these devices can reduce human joint effort without restricting volitional motion. However, these backdrivable actuators are coupled by mechanical interfaces to soft tissues of the human body that together introduce resonator dynamics that can delay or diminish the torque assistance. Low interface stiffness and uncompensated dynamics can cause inefficient power delivery to the user, alter their perceived assistance and comfort, and destabilize feedback controllers. We hypothesize that the low stiffness in lateral strap interfaces, like those in the opensource M-BLUE exoskeleton, can be improved by mechanical redesign. Building on the open-source M-BLUE exoskeleton, this paper introduces an alternative interface design that loads the leg through anterior and posterior pads (normal loading) and straps, in which the pads provide extension assistance and the straps provide flexion assistance. We compare the interface dynamics of lateral and normal loading interfaces on N = 10 human subjects using both quasi-static spring measurements and frequency response methods, finding the new design to be 85.7% stiffer $(p<0.01)$ for a range of leg poses and in both flexion and extension loading.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"648-655"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12258918/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612602","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}

引用次数: 0