IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第7页

Improving Walking Assistance Efficiency in Real-World Scenarios with Soft Exosuits Using Locomotion Mode Detection. 使用运动模式检测在现实世界场景中使用软外装提高步行辅助效率。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304773

Xiaohui Zhang, Enrica Tricomi, Francesco Missiroli, Nicola Lotti, Xunju Ma, Lorenzo Masia

{"title":"Improving Walking Assistance Efficiency in Real-World Scenarios with Soft Exosuits Using Locomotion Mode Detection.","authors":"Xiaohui Zhang, Enrica Tricomi, Francesco Missiroli, Nicola Lotti, Xunju Ma, Lorenzo Masia","doi":"10.1109/ICORR58425.2023.10304773","DOIUrl":"10.1109/ICORR58425.2023.10304773","url":null,"abstract":"The use of portable and lightweight wearable assistive devices can improve wearer locomotion efficiency by reducing the metabolic cost of walking. To achieve this goal, assistive technologies must adapt to different locomotion modes to optimize walking assistance. In this work, we developed a novel control strategy for an underactuated soft exosuit featuring a single actuator to assist bilateral hip flexion, which utilized inertial measurement units (IMUs) to discriminate between three different locomotion modes: walking up/down stairs or on level ground. Walking assistance was adjusted in real-time to maximize the assistance provided to the user. In order to preliminary test the effectiveness of this control strategy, four healthy subjects performed a walking task with the exosuit disabled (Exo Off) and enabled (Exo On). Results showed that the kinematics-based IMU classification strategy achieved an overall accuracy exceeding 95% across the three-movement patterns. Subjects were able to save an average of 10.1% on walking energy expenditure with assistance from the wearable device. This work contributes to the development of compact, high-performance lower limb assistive technologies and their development in practical applications.","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":"71523650","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

Multi-Objective Optimization-Based Assist-as-Needed Controller for Improved Quality of Assistance in Rehabilitation Robotics. 基于多目标优化的按需辅助控制器，用于提高康复机器人的辅助质量。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304734

Kithmi N D Widanage, Zhengguo Sheng, Henglien Lisa Chen, Yanan Li

{"title":"Multi-Objective Optimization-Based Assist-as-Needed Controller for Improved Quality of Assistance in Rehabilitation Robotics.","authors":"Kithmi N D Widanage, Zhengguo Sheng, Henglien Lisa Chen, Yanan Li","doi":"10.1109/ICORR58425.2023.10304734","DOIUrl":"10.1109/ICORR58425.2023.10304734","url":null,"abstract":"Assist-as-needed (AAN) is a paradigm in rehabilitation robotics based on the fact that more active participation from human users promotes faster recovery of motor functions. Moreover, the patients and public engaged and involved in our research design stressed that in order to provide safe and patient-friendly assistance, rehabilitation robotics should be equipped with different constraints while giving minimal assistance where required. Most of the current constraint-based AAN methods are only capable of providing position or velocity constraints which limit the quality of assistance that the robotic systems could provide. In this paper, we propose a multi-objective optimization (MOO) based controller which can implement both linear and non-linear constraints to improve the quality of assistance. This MOO-based proposed controller includes not only position and velocity constraints but also a vibration constraint to subside the tremors common in rehabilitation patients. The performance of this controller is compared with a Barrier Lyapunov Function (BLF) based controller with task-space constraints in a simulation. The results indicate that the MOO-based controller behaves similarly to the BLF-based controller in terms of position constraints. It also shows that the MOO-based controller can improve the quality of assistance by constraining the velocity and subsiding the simulated tremors.","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":"71523654","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

Subject-Specific and COM Acceleration-Enhanced Reflex Neuromuscular Model to Predict Ankle Responses in Perturbed Gait. 受试者特异性和COM加速增强反射神经肌肉模型预测步态扰动时的踝关节反应。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304748

L A Gaudio, J Gonzalez-Vargas, M Sartori, H van der Kooij

引用次数: 0

The Effect of Feedback Modality When Learning a Novel Wrist Sensorimotor Transformation Through a Body-Machine Interface. 通过体机接口学习新型腕关节感觉运动变换时反馈模态的影响。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304784

Giulia A Albanese, Jacopo Zenzeri, Dalia De Santis

{"title":"The Effect of Feedback Modality When Learning a Novel Wrist Sensorimotor Transformation Through a Body-Machine Interface.","authors":"Giulia A Albanese, Jacopo Zenzeri, Dalia De Santis","doi":"10.1109/ICORR58425.2023.10304784","DOIUrl":"10.1109/ICORR58425.2023.10304784","url":null,"abstract":"Body-Machine Interfaces (BoMIs) are promising assistive and rehabilitative tools for helping individuals with impaired motor abilities regain independence. When operating a BoMI, the user has to learn a novel sensorimotor transformation between the movement of certain body parts and the output of the device. In this study, we investigated how different feedback modalities impacted learning to operate a BoMI. Forty-seven able-bodied participants learned to control the velocity of a 1D cursor using the 3D rotation of their dominant wrist to reach as many targets as possible in a given amount of time. The map was designed to maximize cursor speed for movements around a predefined axis of wrist rotation. We compared the user's performance and control efficiency under three feedback modalities: i) visual feedback of the cursor position, ii) proprioceptive feedback of the cursor position delivered by a wrist manipulandum, iii) both i) and ii). We found that visual feedback led to a greater number of targets reached than proprioceptive feedback alone. Conversely, proprioceptive feedback yielded greater alignment between the axis of rotation of the wrist and the optimal axis represented by the map. These results suggest that proprioceptive feedback may be preferable over visual feedback when information about intrinsic task components, i.e. joint configurations, is of interest as in rehabilitative interventions aiming to promote more effective learning strategies.","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":"71523676","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 Translation of Novel Neurorehabilitation Systems: A Practical Approach to Usability Testing. 翻译新的神经康复系统：实用性测试的实用方法。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304770

Jessie Mitchell, Kelly Clanchy, Camila Shirota

{"title":"Towards Translation of Novel Neurorehabilitation Systems: A Practical Approach to Usability Testing.","authors":"Jessie Mitchell, Kelly Clanchy, Camila Shirota","doi":"10.1109/ICORR58425.2023.10304770","DOIUrl":"10.1109/ICORR58425.2023.10304770","url":null,"abstract":"Usability testing is important for the effective translation of neurorehabilitation technologies but is often overlooked and under-reported. The aim of this paper is to present a method of collecting and analyzing usability data, using a think-aloud and semi-structured interview protocol and qualitative analysis techniques. We present a worked case study of this method with a novel neurorehabilitation system that utilizes thought-controlled robotics to partially restore lower-limb function of people with spinal cord injury (SCI). Five male participants (mean age = 32.6 years) with SCI who identified as users of related neurorehabilitation technologies completed the usability study. Video-recorded usability sessions utilized a combination of concurrent and retrospective think-aloud methods as well as semi-structured interviews. Recordings were analyzed to identify verbal and behavioral feedback from participants regarding system performance and acceptability. In total, 538 data points were logged, which were aggregated into 60 usability issues, 44 positive evaluations, and 31 strategies for improvement. The approach undertaken was novel in that we sought to not only capture usability issues but also system elements that were positively evaluated by intended users and strategies for improvement from the perspective of intended users. These observations will be used to inform the further development of the neurorehabilitation system.","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":"71523681","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

Transferring Gait Predictors Across EMG Acquisition Systems with Domain Adaptation. 通过领域自适应在肌电采集系统中传输步态预测。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304702

Annika Guez, Balint Hodossy, Dario Farina, Ravi Vaidyanathan

{"title":"Transferring Gait Predictors Across EMG Acquisition Systems with Domain Adaptation.","authors":"Annika Guez, Balint Hodossy, Dario Farina, Ravi Vaidyanathan","doi":"10.1109/ICORR58425.2023.10304702","DOIUrl":"10.1109/ICORR58425.2023.10304702","url":null,"abstract":"Lower limb assistive technology (e.g. exoskeletons) can benefit significantly from higher resolution information related to physiological state. High-density electromyography (HD-EMG) grids offer valuable spatial information on muscle activity; however their hardware is impractical, and bipolar electrodes remain the standard in practice. Exploiting information rich HD-EMG datasets to train machine learning models could help overcome the spatial limitations of bipolar electrodes. Unfortunately, differences in signal characteristics across acquisition systems prevent the direct transfer of models without a drop in performance. This study investigated Domain Adaptation (DA) to render EMG-based models invariant to different acquisition systems. This approach was evaluated using a Temporal Convolutional Network (TCN) that mapped EMG signals to the subject's knee angle, using HD-EMG as source data and Delsys bipolar EMG as target data. Furthermore, the feature extraction learnt by the TCN was also applied across muscle groups, evaluating the transferability of the sensor agnostic features. The DA implementation shows promise in both scenarios, with an average increase in accuracy (angular error normalised by the range of motion) of 7.36% for the Rectus Femoris, Biceps Femoris and Tibialis Anterior, as well as a cross-muscle performance increase of up to 10.80%. However, when the domain discrepancy is severe, the model is currently unable to generate a reliable walking trajectory due to inherent limitations related to the applied regression scheme and the chosen Mean Squared Error loss function. Therefore, future research should focus on exploring advanced loss functions and classification-based DA models that prioritise restoring key features of the gait.","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":"71523683","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 Method of Detecting Human Movement Intentions in Real Environments. 一种在真实环境中检测人类运动意图的方法。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304774

Yi-Xing Liu, Zhao-Yuan Wan, Ruoli Wang, Elena M Gutierrez-Farewik

{"title":"A Method of Detecting Human Movement Intentions in Real Environments.","authors":"Yi-Xing Liu, Zhao-Yuan Wan, Ruoli Wang, Elena M Gutierrez-Farewik","doi":"10.1109/ICORR58425.2023.10304774","DOIUrl":"10.1109/ICORR58425.2023.10304774","url":null,"abstract":"Accurate and timely movement intention detection can facilitate exoskeleton control during transitions between different locomotion modes. Detecting movement intentions in real environments remains a challenge due to unavoidable environmental uncertainties. False movement intention detection may also induce risks of falling and general danger for exoskeleton users. To this end, in this study, we developed a method for detecting human movement intentions in real environments. The proposed method is capable of online self-correcting by implementing a decision fusion layer. Gaze data from an eye tracker and inertial measurement unit (IMU) signals were fused at the feature extraction level and used to predict movement intentions using 2 different methods. Images from the scene camera embedded on the eye tracker were used to identify terrains using a convolutional neural network. The decision fusion was made based on the predicted movement intentions and identified terrains. Four able-bodied participants wearing the eye tracker and 7 IMU sensors took part in the experiments to complete the tasks of level ground walking, ramp ascending, ramp descending, stairs ascending, and stair descending. The recorded experimental data were used to test the feasibility of the proposed method. An overall accuracy of 93.4% was achieved when both feature fusion and decision fusion were used. Fusing gaze data with IMU signals improved the prediction accuracy.","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":"71523582","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

Air Efficient Soft Wearable Robot for High-Torque Elbow Flexion Assistance. 用于高扭矩肘部弯曲辅助的空气高效软穿戴机器人。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304679

Harrison Young, Lucas Gerez, Tazzy Cole, Bianca Inirio, Tommaso Proietti, Bettie Closs, Sabrina Paganoni, Conor Walsh

{"title":"Air Efficient Soft Wearable Robot for High-Torque Elbow Flexion Assistance.","authors":"Harrison Young, Lucas Gerez, Tazzy Cole, Bianca Inirio, Tommaso Proietti, Bettie Closs, Sabrina Paganoni, Conor Walsh","doi":"10.1109/ICORR58425.2023.10304679","DOIUrl":"10.1109/ICORR58425.2023.10304679","url":null,"abstract":"Recent developments in soft wearable robots have shown promise for assistive and rehabilitative use-cases. For inflatable approaches, a major challenge in developing portable systems is finding a balance between portability, performance, and usability. In this paper, we present a textile-based robotic sleeve that can provide functional elbow flexion assistance and is compatible with a portable actuation unit (PAU). Flexion is driven by a curved textile actuator with internal pneumatic supports (IPS). We show that the addition of IPS improves torque generation and increases battery-powered actuations by 60%. We demonstrate that the device can provide enough torque throughout the ROM of the elbow joint for daily life assistance. Specifically, the device generates 13.5 Nm of torque at 90°. Experimental testing in five healthy individuals and two individuals with Amyotrophic Lateral Sclerosis (ALS) demonstrates its impact on wearer muscle activity and kinematics. The results with healthy subjects show that the device was able to reduce the bicep muscle activity by an average of 49.1±13.3% during static and dynamic exercises, 43.6±11.1% during simulated ADLs, and provided an assisted ROM of 134°±13°. Both ALS participants reported a reduced rate of perceived exertion during both static and dynamic tasks while wearing the device and had an average ROM of 115°±8°. Future work will explore other applications of the IPS and extend the approach to assisting multiple joints.","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":"71523590","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 of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy. 使用优化的机械超材料设计用于镜治疗的被动可穿戴设备。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304724

Suhas Raghavendra Kulkarni, Dino Accoto, Domenico Campolo

引用次数: 0

Does the Level of Focus in Serious Games in Immersive VR Correlate with the Quality of Movement? Preliminary Results from an Ongoing Study on Rehabilitation of Children with Cerebral Palsy. 沉浸式虚拟现实中严肃游戏的焦点水平与动作质量相关吗？一项正在进行的脑瘫儿童康复研究的初步结果。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2023-09-01 DOI: 10.1109/ICORR58425.2023.10304712

引用次数: 0