IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献_第9页

Manipulation of Sensory Information in Competitive Scenarios Induces Adaptive Changes in Action Selection: Insights for Neurorehabilitation. 竞争情境下感觉信息的操纵诱导动作选择的适应性变化：对神经康复的见解。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11062999

Laura Bandini, Cecilia De Vicariis, Vittorio Sanguineti

{"title":"Manipulation of Sensory Information in Competitive Scenarios Induces Adaptive Changes in Action Selection: Insights for Neurorehabilitation.","authors":"Laura Bandini, Cecilia De Vicariis, Vittorio Sanguineti","doi":"10.1109/ICORR66766.2025.11062999","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11062999","url":null,"abstract":"Competitive settings may be promising for neurorehabilitation as they may lead to stronger patient motivation. However, the mechanisms underlying the development of an interaction in competitive settings are not well understood. We use a dyadic haptic interface to investigate the dynamics of competitive interaction. Pairs of participants engaged in a ball game (a penalty kick challenge), with an attacker and a defender. To explore how the participants adapt to each other over game iterations, we manipulated the amount of information available to each one about the location of their opponent. We found that under the different experimental conditions, the participants adjusted their behavior in response to their opponents' strategy change. These observations are consistent with simulations with a computational model assuming that during interaction the participants use optimal (Bayesian) perception and action selection (based on game theory). Taken together, experiments and simulations suggest that the participants develop and update a flexible, adaptive predictor of their opponents next action, which helps them adjust their behavior to optimize performance. These findings provide a foundation for further research into the mechanisms that drive adaptive behavior in competitive scenarios, and provide new insights into how competitive environments can be used in rehabilitation.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1320-1324"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612633","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

Unseen and Unheard Potential: Visual and Auditory Cues Affect Motor Plans and Coordination. 看不见和听不见的潜能：视觉和听觉线索影响运动计划和协调。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063103

Cecilia De Vicariis, Mitchell D L McDermott, Giada Parodi, Ludovica Viola, Laura Bandini, Vittorio Sanguineti, Etienne Burdet, Ekaterina Ivanova

{"title":"Unseen and Unheard Potential: Visual and Auditory Cues Affect Motor Plans and Coordination.","authors":"Cecilia De Vicariis, Mitchell D L McDermott, Giada Parodi, Ludovica Viola, Laura Bandini, Vittorio Sanguineti, Etienne Burdet, Ekaterina Ivanova","doi":"10.1109/ICORR66766.2025.11063103","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063103","url":null,"abstract":"During daily life activities we not only gather information regarding the environment, but also regarding other humans which are performing similar actions. Even if not specifically required by the task, people affect other motion plans through different sensory modalities and may align their plans in a subtle way even if not required. This study explores the role of visual and auditory feedback in tasks with a sensory connection between partners. We used a dual robotic interface to test various visual and auditory coupling modalities, translating the spatial dynamics of the partners into distinctive feedback. Results from visual experiment showed that the explicit representation of the partner position along with own position greatly improves coordination between them. The auditory experiment emphasized the effectiveness of binaurally presented spatio-temporally discrete auditory cues. The current study provides insights relevant to the design of novel enriched rehabilitative protocols which rely on the mechanisms underlying interaction.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1221-1226"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612642","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

Myoassist 0.1: Myosuite for Dexterity and Agility in Bionic Humans. Myoassist 0.1：用于仿生人的灵活性和敏捷性的Myosuite。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063089

Chun Kwang Tan, Cheryl Wang, Shirui Lyu, Balint K Hodossy, Pierre Schumacher, Elizabeth B Wilson, Vittorio Caggiano, Vikash Kumar, Dario Farina, Letizia Gionfrida, Elliott J Rouse, Guillaume Durandau, Seungmoon Song

{"title":"Myoassist 0.1: Myosuite for Dexterity and Agility in Bionic Humans.","authors":"Chun Kwang Tan, Cheryl Wang, Shirui Lyu, Balint K Hodossy, Pierre Schumacher, Elizabeth B Wilson, Vittorio Caggiano, Vikash Kumar, Dario Farina, Letizia Gionfrida, Elliott J Rouse, Guillaume Durandau, Seungmoon Song","doi":"10.1109/ICORR66766.2025.11063089","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063089","url":null,"abstract":"Accurate and reliable digital twins of humans and wearable robots can revolutionize rehabilitation robotics. Here, we introduce MyoAssist 0.1, a sub-suite of MyoSuite focused on musculoskeletal simulation environments with assistive devices such as prosthetics and exoskeletons. This open-source platform enables the study and development of human-device interactions, control strategies, and assistive robotics. We present two new simulation environments: myoMPL featuring an arm amputee model with a robotic prosthetic arm, and myoOSL featuring a leg amputee model with a robotic prosthetic leg. The myoMPL environment features a bimanual manipulation task for a shoulder disarticulation amputee using a Modular Prosthetic Limb (MPL), where the task is to pick up an object with the biological hand, pass it to the prosthetic hand, and place it at a target location. The myoOSL environment simulates an above-knee amputee using the Open-Source Leg (OSL) to traverse challenging terrains such as rough surfaces, hills, and stairs. Despite some simplifications in modeling the nuanced constraints of human and prosthetic systems under real-world conditions, these environments provide a foundational simulation framework that supports interdisciplinary research on the interplay between musculoskeletal dynamics and assistive devices. Both myoMPL and myoOSL are featured in MyoChallenge, an annual competition at the NeurIPS conference. All code is accessible through the MyoSuite GitHub repository.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"437-442"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612653","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

Organizing and Prioritizing User Needs for Upper Limb Prostheses. 上肢假肢用户需求的组织和优先排序。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063034

Palma Borracci, Robinson Guachi, Linda Paterno, Irene Mannari, Flavio Napoleoni, Marco Controzzi

{"title":"Organizing and Prioritizing User Needs for Upper Limb Prostheses.","authors":"Palma Borracci, Robinson Guachi, Linda Paterno, Irene Mannari, Flavio Napoleoni, Marco Controzzi","doi":"10.1109/ICORR66766.2025.11063034","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063034","url":null,"abstract":"Upper limb amputation leads to severe restrictions in daily activities and psychosocial difficulties, which can dramatically reduce the quality of life of affected people. Despite the significant scientific and engineering effort in building advanced robotic prostheses, their abandonment rates suggest a discrepancy between user needs and device performance. To address this gap, we present an initial step in identifying, harmonizing, and prioritizing the needs of people with limb loss. Using the PRISMA methodology, we analysed 73 papers on the topic. Using a bottom-up approach, we clustered the needs identified in different surveys into categories and macro-categories based on a taxonomy derived from the terms identified in the literature. We then prioritized the needs after a normalization of the major surveys. We believe that this work will provide both a high-level and low-level understanding of the needs of people with limb loss, thereby helping to guide the design of more user-friendly prostheses. In the future, combining these results with the definition of technical specifications will enable the identification of needs that can be satisfied through personalized design, particularly considering recent advances in manufacturing processes.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1139-1146"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612676","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

Pupillometry for Arm and Hand Motor Intent Detection. 瞳孔测量法用于手臂和手部运动意图检测。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063027

Shane Forbrigger, Thomas Trappenberg, Ya-Jun Pan

{"title":"Pupillometry for Arm and Hand Motor Intent Detection.","authors":"Shane Forbrigger, Thomas Trappenberg, Ya-Jun Pan","doi":"10.1109/ICORR66766.2025.11063027","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063027","url":null,"abstract":"Rehabilitation robots and assistive devices that detect the motor intent of their users can provide more intuitive and effective control. Pupil dilation occurs when people perform motor activities, but its utility for detecting motor intent has not been explored previously. In this work, a human participant research study is conducted to determine if pupillometric data can be used to differentiate between a person's intent to pick up or observe an object. Thirty participants were recruited to perform 120 trials of picking up and observing objects while their pupil dilation was recorded by an eye tracking headset. Features were extracted from the time series data and used to train a neural network classifier. The classifier was tested using leave-one-out cross-validation. The classifier achieved an average accuracy of 59.4% and F1 score of 0.578 across the thirty test datasets. The performance varied significantly depending on the participant used for testing, suggesting that the pupillometric approach to intent detection may be better suited to some participants than others. Future work should determine whether intent detection can be improved with more advanced machine learning methods, such as convolutional neural networks (CNN), and whether intent detection can be performed in real time.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1382-1387"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612692","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

Rehabilitation of Chronic Stroke Using Neurofeedback, Functional Electrical Stimulation and Cerebrospinal Direct Current Stimulation. 神经反馈、功能电刺激和脑脊液直流电刺激对慢性脑卒中康复的影响。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063073

Teodiano Bastos-Filho, Aura Ximena Gonzalez-Cely, Sheida Mehrpour, Fernanda Souza, Ana Cecilia Villa-Parra, Fernando Cabral

{"title":"Rehabilitation of Chronic Stroke Using Neurofeedback, Functional Electrical Stimulation and Cerebrospinal Direct Current Stimulation.","authors":"Teodiano Bastos-Filho, Aura Ximena Gonzalez-Cely, Sheida Mehrpour, Fernanda Souza, Ana Cecilia Villa-Parra, Fernando Cabral","doi":"10.1109/ICORR66766.2025.11063073","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063073","url":null,"abstract":"This work presents the application of a rehabilitation protocol using a novel Non-Invasive Brain Stimulation (NIBS) technique, called cerebrospinal Direct Current Stimulation (csDCS), together with the use of a Brain-Computer Interface (BCI) based on Motor Imagery (MI) with Neurofeedback (NFB), and applying Functional Electrical Stimulation (FES) plus the use of a pedal exerciser. This protocol uses the concept of Alternating Treatment Design (ATD), in which a chronic post-stroke subject is submitted to these techniques to recover his left hand and leg movements. The rehabilitation progress was verified through metrics, such as Fugl Meyer Assessment (FMA), Functional Independence Measure (FIM), Ashworth Scale, Muscle Strength Grading (MSG), and surface Electromyography (sEMG). Results from these metrics include a 41% gain in hand function recovery, a 5% gain in performance in motor and cognitive/social domains, and a 50% improvement in both wrist extensor muscle strength and finger extensor muscle strength. In addition, there was a 17% gain of Maximum Voluntary Contraction (MVC) for the tibialis anterior muscle of the patient's left leg. On the other hand, there was a worsening in some values of EMG, probably due to the participant having received application of botulinum toxin in his hand.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1203-1208"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612701","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 Individualized Driving Evaluation (RIDE): Design and Preliminary Evaluation. 机器人个性化驾驶评估（RIDE）：设计与初步评估。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063090

Tim D Yang, Laura Rice, Seth Hutchinson, Yih-Kuen Jan

{"title":"Robotic Individualized Driving Evaluation (RIDE): Design and Preliminary Evaluation.","authors":"Tim D Yang, Laura Rice, Seth Hutchinson, Yih-Kuen Jan","doi":"10.1109/ICORR66766.2025.11063090","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063090","url":null,"abstract":"Power wheelchair driving entails safety risks, including tips and collisions. Thus, driving assessments are important to safeguard both drivers and their surroundings. However, current driving assessments are deterministic, whereas driving itself is stochastic due to individual and environmental uncertainty. Moreover, disabilities magnify this uncertainty. In this study, a robotic wheelchair was used for a novel function: stochastic assessment of PWC driving. The Robotic Individualized Driving Evaluation (RIDE) is a stochastic assessment that contrasts with deterministic assessments by accounting for individual differences via assessment profiles. The robotic wheelchair acquired the information needed for the stochastic model, and a probabilistic risk score was formulated. The purpose of this preliminary study was to test the effect of assessment profiles within and between driving tasks. Within tasks, there were significant differences in RIDE risk between the profiles. Between tasks, there were significant differences in the new stochastic RIDE metrics but not in the conventional deterministic metrics. Results demonstrated potential for this novel use of robotic wheelchairs to support personalized assessment and training in power mobility rehabilitation.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"1693-1698"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612709","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

Running with an Exotendon can Reduce Metabolic Rate Across a Range of Speeds. 使用外肌腱跑步可以在一定速度范围内降低代谢率。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063084

Olivia Felton, Chadwick Healy, David Phair, Alaa Ahmed, Cara Gonzalez Welker

{"title":"Running with an Exotendon can Reduce Metabolic Rate Across a Range of Speeds.","authors":"Olivia Felton, Chadwick Healy, David Phair, Alaa Ahmed, Cara Gonzalez Welker","doi":"10.1109/ICORR66766.2025.11063084","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063084","url":null,"abstract":"Metabolic rate, the amount of energy expended over time, can be influenced by passive assistive devices like specialized footwear and exoskeletons. While most assistive device research has focused on elite athletes or recreational runners at a single speed, few studies have explored how these devices might affect metabolic rate across a range of running speeds. This study investigates the effect of a passive assistive device (exotendon), which connects a runner's legs, on metabolic rate in recreational runners across multiple speeds. In contrast to previous work, only 9 of 16 participants reduced metabolic rate with the device at $2.67 ~mathrm{m} / mathrm{s}$, by an average of 7.6 %. While all participants significantly increased stride frequency - a key factor identified in previous work for its influence on metabolic rate - the group that did not reduce metabolic rate exhibited greater variability in average stride frequency for both conditions. For those who reduced metabolic rate with the exotendon at $2.67 ~mathrm{m} / mathrm{s}$, similar improvements extended across speeds from 1.68 to $4.36 ~mathrm{m} / mathrm{s}$. These results indicate that the exotendon's effect on metabolic rate varies across individuals but can extend beyond a single running speed in those who respond to the device. This suggests that passive assistive devices may benefit some runners across a range of speeds, with potential applications for training and performance as well as rehabilitation, where reducing energy demand could aid recovery and mobility.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"724-729"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612711","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

Strategic User Identification Increases the Impact of Wearable Airbags in High-Fall Risk Populations with Neurological Disease. 战略性用户识别增加可穿戴安全气囊对患有神经系统疾病的高危人群的影响

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063031

Kyle R Embry, Sajjad Daneshgar, Katelyn Aragon, Arun Jayaraman

{"title":"Strategic User Identification Increases the Impact of Wearable Airbags in High-Fall Risk Populations with Neurological Disease.","authors":"Kyle R Embry, Sajjad Daneshgar, Katelyn Aragon, Arun Jayaraman","doi":"10.1109/ICORR66766.2025.11063031","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063031","url":null,"abstract":"Falls are a major health concern among older adults, particularly those with neurological conditions such as Parkinson's disease or stroke. Wearable airbags are a promising new technology that may help mitigate fall-related injuries. These devices use motion sensors, pre-impact fall detection algorithms, and CO2-powered airbags to cushion the impact of a fall. However, this technology is only needed for people with a high risk of falls, and it is only useful if the pre-impact fall detection algorithm successfully detects the fall. Our prior work showed that some individuals benefit more from one pre-impact fall detection algorithm than another due to their unique movement characteristics and biomechanics. This study aims to determine who may be suitable users for this technology by predicting future fall risk and categorizing users as 'responders' or 'non-responders' based on their predicted algorithm performance. We recruited 22 participants with neurological conditions in a six-month study design. Using baseline physical assessments, survey scores, and principal component analysis, we trained a logistic regression model that distinguished high-risk 'fallers' from 'non-fallers' with an average F1 score of 0.76. The model also identified 'responder' individuals, whose fall patterns were accurately detected, achieving an F1 score of 0.75. These findings suggest that identifying high fall risk users whose falls are best identified by a fall detection algorithm can enhance device effectiveness and maximize benefits for users.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"121-127"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612723","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

System Performance Analysis of the Shoulder Elbow Perturbator. 肩肘摄动器系统性能分析。

IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Pub Date : 2025-05-01 DOI: 10.1109/ICORR66766.2025.11063005

Jonathan C van Zanten, Karien Ter Welle, Claudia J W Haarman, Alfred C Schouten, Mark van de Ruit, Winfred Mugge, Arno H A Stienen

{"title":"System Performance Analysis of the Shoulder Elbow Perturbator.","authors":"Jonathan C van Zanten, Karien Ter Welle, Claudia J W Haarman, Alfred C Schouten, Mark van de Ruit, Winfred Mugge, Arno H A Stienen","doi":"10.1109/ICORR66766.2025.11063005","DOIUrl":"https://doi.org/10.1109/ICORR66766.2025.11063005","url":null,"abstract":"To increase the quality of life of stroke patients, better diagnostics with the ability to identify the cause of motor impairment are needed. Robotic diagnostics increases the resolution of measurements, allows for tracking progress over a longer period, and can be used to evaluate new treatments. The Shoulder Elbow Perturbator (SEP) was developed to improve the diagnostics of post-stroke motor impairment. The SEP has already been tested on patients, showing promising results in identifying the cause of motor impairment, but no SEP system performance analysis has been published. To identify the joint properties of the elbow accurately, the SEP should have a bandwidth of at least 12 Hz. Furthermore, admittance and velocity control are required for various possible experimental tasks. This paper shows that the SEP performs adequately for the desired perturbations and experimental conditions for system identification of the human elbow. The SEP's performance is analysed with multisine signals to determine the bandwidth and endpoint dynamics. The velocity controller bandwidth is 50 Hz, and the admittance controller bandwidth is 65 Hz. Furthermore, the controller is stable. Thus, the SEP meets all the requirements and should be able to provide the desired perturbations and experimental conditions needed for system identification of the human elbow.","PeriodicalId":73276,"journal":{"name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","volume":"2025 ","pages":"346-351"},"PeriodicalIF":0.0,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144612726","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