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

Implementation and Validation of a Data-Driven Variable Impedance Controller on the Össur Power Knee. 数据驱动的变阻抗控制器在Össur动力膝关节上的实现与验证。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063151

T Kevin Best, C Andrew Seelhoff, Robert D Gregg

{"title":"Implementation and Validation of a Data-Driven Variable Impedance Controller on the Össur Power Knee.","authors":"T Kevin Best, C Andrew Seelhoff, Robert D Gregg","doi":"10.1109/ICORR66766.2025.11063151","DOIUrl":"10.1109/ICORR66766.2025.11063151","url":null,"abstract":"While prototype prostheses and control algorithms have demonstrated compelling clinical benefits in research laboratories, studies with commercially-available robotic prostheses have often failed to demonstrate similar benefits for users, limiting their adoption into mainstream clinical practice. This work is a step towards addressing this shortcoming by presenting the implementation of a phase-based variable impedance controller on the commercially-available Össur Power Knee ${ }^{text {TM }}$ for walking and sit/stand tasks. We show that, through preliminary experiments with $mathrm{N}=4$ high-mobility above-knee prosthesis users, the Power Knee under our controller can produce clear clinical benefits compared to the users' prescribed prostheses. In sitting and standing, users demonstrated generally increased leg-loading symmetry and speed with the Power Knee, indicating easier motions with less over-use of the sound limb. In walking, users demonstrated improved gait with the Power Knee, including increases in toe clearance and early-stance knee flexion. These positive results are similar to our previous work on prototype hardware, demonstrating our controller's hardware generalization and its potential for generating clinical benefits with commercial prostheses. These results are a step towards a promising future in which commercially-available robotic prostheses provide users with concrete clinical benefits.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"7-14"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12258919/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612612","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

Design of a Rope-Driven Finger Exoskeleton System with a Universal Double Grooved Roller for Adaptive Rehabilitation. 带万能双槽滚子的绳驱动手指外骨骼自适应康复系统设计。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063106

Wenqi Li, Le Bao, Wansoo Kim

{"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":"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.","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}

引用次数: 0

A Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study. 任务不可知的膝关节外骨骼在日常生活活动中减轻骨关节炎疼痛：一项试点研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063102

Nikhil V Divekar, Ernesto Hernandez Hinojosa, Jiefu Zhang, Robert D Gregg

{"title":"A Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study.","authors":"Nikhil V Divekar, Ernesto Hernandez Hinojosa, Jiefu Zhang, Robert D Gregg","doi":"10.1109/ICORR66766.2025.11063102","DOIUrl":"10.1109/ICORR66766.2025.11063102","url":null,"abstract":"Patellofemoral osteoarthritis is a prevalent musculoskeletal disorder characterized by knee pain during physically demanding activities like stair climbing and sit-to-stand transitions. These movements require high knee extension torques, leading to increased quadriceps activation and patellofemoral joint compression, which aggravates pain. While external torque assistance at the knee joint could theoretically reduce joint loads, traditional exoskeletons have not proven effective in managing osteoarthritis due to their rigid actuation, cumber-some attachments, and inadequate control systems. We address these limitations by modifying a commercial post-operative knee brace with a highly-backdrivable actuator and adapting a task-agnostic torque-assist controller, originally designed for lifting and carrying tasks, to accommodate osteoarthritis patients. In pilot trials with four participants with patellofemoral osteoarthritis, our device facilitated substantial reductions in both pain and perceived difficulty across daily activities including stair/ramp navigation, walking, and sit-to-stand transitions. Across all participants and tasks, pain and difficulty were reduced by 0.82 and 0.57 points, respectively (on a scale of 0 to 4). Electromyography revealed decreased quadriceps activation, varying by participant and task. These preliminary findings motivate future research on backdrivable knee exoskeletons as a novel conservative treatment for patellofemoral osteoarthritis.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1437-1443"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12258921/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612470","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

Mapping the Neural Control of Force and Impedance of Wrist Movements Using Robotics and fMRI. 利用机器人技术和功能磁共振成像绘制腕部运动的力和阻抗的神经控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062940

Kristin Schmidt, Fabrizio Sergi

{"title":"Mapping the Neural Control of Force and Impedance of Wrist Movements Using Robotics and fMRI.","authors":"Kristin Schmidt, Fabrizio Sergi","doi":"10.1109/ICORR66766.2025.11062940","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062940","url":null,"abstract":"While robots are becoming increasingly valuable tools in neurorehabilitation, our limited understanding of the brain's response during human-robot interaction tasks restricts advancements in training programs to restore neural pathways after injury. Co-contraction is characteristic of several neuromuscular disorders, such as stroke and cerebral palsy, and it is often targeted by assessments or rehabilitation programs. Despite its importance, the neural mechanisms underlying cocontraction remain poorly understood. To address this gap, this study investigates the neural substrates of muscle co-contraction via functional magnetic resonance imaging (fMRI) during a dynamic motor task with an MR-compatible wrist robot. To establish suitable fMRI experimental conditions, we first conducted a behavioral study assessing muscle activity during a wrist-pointing task with four participants. Participants reached toward a target while experiencing four main perturbation conditions (no force, divergent force, constant force up, and constant force down), designed to elicit distinct force and impedance responses. Following this behavioral validation, five additional participants performed the wrist-pointing task during fMRI. Our results suggest localization of force and impedance control within the cortico-thalamic-cerebellar network. These findings provide new insights into the neural mechanisms of co-contraction, supporting the development of neurorehabilitation paradigms.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1154-1159"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612536","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

Effect of Robotic Assistance on the Synergistic Organization of Reaching Movements. 机器人辅助对伸手动作协同组织的影响。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063165

Indya Ceroni, Florencia Garro, Marianna Semprini

{"title":"Effect of Robotic Assistance on the Synergistic Organization of Reaching Movements.","authors":"Indya Ceroni, Florencia Garro, Marianna Semprini","doi":"10.1109/ICORR66766.2025.11063165","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063165","url":null,"abstract":"Wearable robotic devices for rehabilitation have gained particular interest as they can improve the intensity and repeatability of rehabilitative treatments, leading to better rehabilitation outcomes. However, objective characterization of the effects of robotic interventions is still missing. Here we leverage on muscle synergies theory to provide a quantitative assessment of the effects of an upper limb exoskeleton on the organization of reaching movements in healthy individuals. For this, we computed muscle synergies from 20 subjects performing a standardized reaching task. We found that the robotic assistance does not disrupt the physiological structure of reaching movement but modulates it: a higher number of motor modules are necessary to explain the structure of reaching when using the exoskeleton. We derived an objective analysis of the implications of the more complex and fragmented movement strategy, which can potentially inform the design and testing of robotic prototypes, with the ultimate aim of improving technology-supported rehabilitation interventions.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"796-801"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612554","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

Effects of Exoskeletons on Error Between Marker and Markerless Motion Capture in Children With Crouch Gait: A Pilot Study. 外骨骼对蹲伏步态儿童标记和无标记运动捕捉误差的影响：一项初步研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062947

Noah Rubin, Jordan Dembsky, Diane L Damiano, Thomas C Bulea

{"title":"Effects of Exoskeletons on Error Between Marker and Markerless Motion Capture in Children With Crouch Gait: A Pilot Study.","authors":"Noah Rubin, Jordan Dembsky, Diane L Damiano, Thomas C Bulea","doi":"10.1109/ICORR66766.2025.11062947","DOIUrl":"10.1109/ICORR66766.2025.11062947","url":null,"abstract":"This study evaluated if a lower-extremity exoskeleton affects error between marker-based ($M^{+}$) and markerless ($mathbf{M}^{boldsymbol{-}}$) motion capture in children with crouch gait. Two participants (P1: female, P2: male, ages 6 and 11 years old, cerebral palsy and spina bifida, both with assistive devices) walked with (Exo) and without (NoExo) an exoskeleton spanning the knee and ankle. Mean absolute difference (MAD) between $mathrm{M}^{+}$ and $mathrm{M}^{-}$ of gait cycle normalized hip, knee, and ankle angles were analyzed. Key outcomes of an ongoing clinical trial including measures of sagittal knee angle and gait speed were also compared. $mathrm{M}^{-}$ correlated with $mathrm{M}^{+}$ kinematics, but MAD ranged 1.57-17.0 deg. Except for sagittal (of P1) and frontal (of P2) hip angles, the Exo increased MAD (range 0.74-8.7 deg). $mathrm{M}^{-}$ underestimated knee flexion at initial ground contact, peak knee extension in stance, and peak knee extension in swing. No significant difference in MAD (Exo vs NoExo) was observed except for total joint excursion which had distinct trends for P 1 and P 2. For peak knee extension, a primary endpoint of crouch gait severity, the Exo increased MAD beyond minimum clinically meaningful differences (5 deg). Gait speed was consistent, with MAD $<0.03 ~mathrm{m} / mathrm{s}$ for all observations (NoExo vs Exo $mathbf{p = 0. 2 2}$). While $mathbf{M}^{-}$ has potential to ease gait assessment, early results warrant caution for use with wearable devices, highlighting the need for kinematic estimation algorithms to accommodate diverse end users in clinical and research settings.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612557","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 Activation and Postural Sway in Response to Task Complexity: A Study of Balance Control in Older Adults. 任务复杂性对肌肉激活和姿势摇摆的影响：老年人平衡控制的研究。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063123

Longbin Zhang, Ananda Sidarta, Yu Chin Lim, Carol Er, Xiaoyue Yan, Tsung-Lin Wu, Wei Tech Ang

{"title":"Muscle Activation and Postural Sway in Response to Task Complexity: A Study of Balance Control in Older Adults.","authors":"Longbin Zhang, Ananda Sidarta, Yu Chin Lim, Carol Er, Xiaoyue Yan, Tsung-Lin Wu, Wei Tech Ang","doi":"10.1109/ICORR66766.2025.11063123","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063123","url":null,"abstract":"In this study, we investigate muscle activation patterns and postural sway in older adults across different stance conditions with varying challenges. Muscle activity from lower limb and trunk muscles was recorded in seven older adults during four stance tasks: double stance, tandem stance, tandem stance with a cognitive task, and tandem stance with combined cognitive and motor tasks (TSCM). We analyzed CoP (centre of pressure) features, EMG (electromyography) patterns, and the coherence between EMG-CoP, to gain insights into neuromuscular coordination and balance control. Our findings indicate that task complexity significantly impacts postural stability, with tandem stances-particularly TSCM-leading to increased instability along the anterior-posterior axis. Key stabilizing muscles, such as the gastrocnemius medialis and tibialis anterior, showed heightened activation and strong EMGCoP coherence under complex tasks, highlighting their essential role in counteracting gravitational forces to maintain balance. A lateral asymmetry in muscle activation was also observed, with left-side muscles consistently showing greater activity than right-side counterparts, suggesting lateralized contributions to postural control. These results emphasize the importance of specific muscles for stability in challenging postural tasks and may offer valuable insights for designing targeted interventions, including robotic rehabilitation systems and assistive technologies, to enhance balance and reduce fall risk in older adults.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"82-87"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612579","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-Centered Geodesics for Motion Planning. 以人为中心的运动规划测地线。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063101

Francesco Bianchin, Davide Astarita, Lorenzo Amato, Emilio Trigili, Satoshi Endo, Sandra Hirche

{"title":"Human-Centered Geodesics for Motion Planning.","authors":"Francesco Bianchin, Davide Astarita, Lorenzo Amato, Emilio Trigili, Satoshi Endo, Sandra Hirche","doi":"10.1109/ICORR66766.2025.11063101","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063101","url":null,"abstract":"This paper addresses the challenge of designing human-like reference trajectories for exoskeleton-aided rehabilitation, with a focus on mimicking human joint coordination while addressing clinical requirements. Redundant kinematic chains in human biomechanics pose challenges to trajectory planning: state-of-the-art algorithms often do not explicitly address the problem of replicating natural movements nor do they provide a suitable performance over a wide range of human motions. To address this challenge, this paper proposes a geodesics-based computational method that incorporates joint-level constraints, in addition to energy and level of comfort criteria to solve the problem of redundancy and better emulate human movements. Using upper-limb data retrieved with an exoskeleton platform, the advanced method demonstrated significant performance gains over standard approaches like the minimum-jerk model and cubic polynomial planning, and leads to human-like trajectories, while closely aligning with human demonstrations, both at the configuration (joints) and task-space (hand) level. In particular, we provide detailed comparisons across various motion types and subjects, demonstrating the versatility of the proposed method and its strong potential for application in clinical and assisted living settings.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1015-1022"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612601","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

Learning-Based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism. 基于学习的正交并联机器人机构正运动学估计。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063025

Jingzong Zhou, Yuhan Zhu, Xiaobin Zhang, Sunil Agrawal, Konstantinos Karydis

引用次数: 0

Local Performance-Based Control for End-Effector Robots in Upper-Arm Rehabilitation. 上臂康复末端执行机器人的局部性能控制。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063081

Cristina Urdiales, Manuel Fernandez-Carmona, Francisco J Ruiz-Ruiz, Jesus M Gomez de Gabriel

引用次数: 0