Download or read book Control Strategies for Robotic Exoskeletons to Assist Post Stroke Hemiparetic Gait written by Julio Salvador Lora Millán and published by Springer Nature. This book was released on with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Novel Control for a Post Stroke Gait Rehabilitation Exoskeleton written by Robert Trott and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is the second highest cause of death worldwide and the third leading cause of adult disability across all age brackets. Recovering gait following stroke is a major goal of patients, and hence rehabilitation, as it is central to many activities of daily living. Of the different treatment modalities, robotic assisted gait training is growing in popularity, but is still considered complementary to, and not substitute for conventional therapies comprising physiotherapy, overground walking and body weight supported treadmill training. The potential advantages that lower limb robotics bring to neurorehabilitation over conventional therapies include, higher dosage, specificity, improved consistency, and duration, though these benefits have been slow to manifest. Exoskeletons are well placed to provide these benefits, as well as environmental variation and task salience if they can be used away from outpatient settings. Control strategies that may be enhancing of recovery are often confined to stationary exoskeletons, and the control of mobile exoskeletons is only loosely related to gait, if at all, which limits rehabilitation outcomes. -- The primary aim of this PhD thesis was to develop an adaptive, user-initiated gait Controller that aims to target a novel neural recovery pathway. The Controller would use a robotic exoskeleton, with the intention of developing novel neuroplasticity that is beneficial for gait and would be permissive of simultaneous control of hip and knee posture. A theoretical framework based on the principles of neuroplasticity was proposed that seeks to bring higher engagement, task variance, and volition to gait rehabilitation. This framework considers stroke and rehabilitation timelines and the interaction of the proposal with existing theory, how beneficial neuroplasticity may manifest, and how the proposal may be detrimental. A comprehensive survey of candidate lower limb devices followed (164 devices), to understand exactly what features are compatible, complementary, or contradictory to the proposed control method, and to understand the implications the various specifications have. Specifically, it was found that ambulating exoskeletons that can move around the environment were preferred for their ability to be used in the community and the home, and that extended joint range of motion will be permissive of activities that are supportive of gait such as sit-to-stand and stair ascent/descent. Of the various control systems that have been implemented with exoskeleton devices, trajectory control, where motion is enforced on the limb by the exoskeleton, is preferred. -- The method of control was assessed for suitability as a gait controller through a participant study (n = 21). Participants were asked to reproduce the motion required for the controller, and with minor modification to participant motion it was shown that reliable control signals can be obtained. The remainder of the thesis applies the learnings of the previous stages in the development of the Controller and an accompanying Sensor. The custom Sensor was designed with a small form factor to be applied on the Controller. The thesis concludes with an implementation of the Controller and a successful demonstration of the proposed concept, where the control signals are reproduced on a scale lower limb exoskeleton. The full technical detail and specification of the Controller, and the custom position Sensor developed specific for this application, are presented as part of this work. -- This work has added a new theoretical framework for gait control following stroke and has added technological capability to implement the proposal. It is the primary recommendation of this PhD that the novel control method be tested further with participant studies and that the component hardware be developed further. Therapies targeting novel recovery mechanisms breathe fresh air into rehabilitation and may inspire other new treatments, and future funded work originating from this PhD will see the concept tested with a chronic stroke population, using an ambulating exoskeleton and the Controller.

Download or read book Interfacing Humans and Robots for Gait Assistance and Rehabilitation written by Carlos A. Cifuentes and published by Springer Nature. This book was released on 2021-09-16 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Download or read book Exoskeleton Robots for Rehabilitation and Healthcare Devices written by Manuel Cardona and published by Springer Nature. This book was released on 2020-05-26 with total page 103 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses cutting-edge topics in robotics and related technologies for rehabilitation, covering basic concepts and providing the reader with the information they need to solve various practical problems. Intended as a reference guide to the application of robotics in rehabilitation, it covers e.g. musculoskeletal modelling, gait analysis, biomechanics, robotics modelling and simulation, sensors, wearable devices, and the Internet of Medical Things.

Download or read book Development and Assessment of a Control Approach for a Lower limb Exoskeleton for Use in Gait Rehabilitation Post Stroke written by Spencer Ambrose Murray and published by . This book was released on 2016 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Human Robot Interaction Strategies for Walker Assisted Locomotion written by Carlos A. Cifuentes and published by Springer. This book was released on 2016-06-04 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.

Download or read book Tuning and Evaluation of a Control Strategy of an Exoskeleton for Sit to stand Motion written by Andrés Felipe Fernández Gutiérrez and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The mobility of the lower extremities may be affected by neurological conditions such as stroke or spinal cord injury. When, motor function, gait coordination and muscle strength are impaired. Rehabilitation can improve the autonomy of legs movement in order to carry out everyday tasks such as walking or stand up, also known as a Sit-To-stand. Sit-To-Stand is a task that requires considerable effort for those who have suffered a stroke or other type of injury. To perform the Sit-To-stand movement there are variables such as force, velocities, position angles, among others that can be modeled with the use of robotic exoskeletons. This project develops a Sit-To-Stand control strategy implemented in a robotic exoskeleton. This is based on previous work on the development of control strategies for the rehabilitation of the Sit-ToStand. Where Sit-To-Stand transition phases combined with position and admittance control strategies are used. The objectives of this project are to find optimal values of the angles of the joints involved in the transition of the phases and to propose an improvement in the control strategy to assist people with lower extremities movements.

Download or read book Translational Neurorehabilitation written by Rocco Salvatore Calabrò and published by Springer Nature. This book was released on with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Clinical Pathways in Stroke Rehabilitation written by Thomas Platz and published by Springer Nature. This book was released on 2021-01-14 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book focuses on practical clinical problems that are frequently encountered in stroke rehabilitation. Consequences of diseases, e.g. impairments and activity limitations, are addressed in rehabilitation with the overall goal to reduce disability and promote participation. Based on the available best external evidence, clinical pathways are described for stroke rehabilitation bridging the gap between clinical evidence and clinical decision-making. The clinical pathways answer the questions which rehabilitation treatment options are beneficial to overcome specific impairment constellations and activity limitations and are well acceptable to stroke survivors, as well as when and in which settings to provide rehabilitation over the course of recovery post stroke. Each chapter starts with a description of the clinical problem encountered. This is followed by a systematic, but concise review of the evidence (RCTs, systematic reviews and meta-analyses) that is relevant for clinical decision-making, and comments on assessment, therapy (training, technology, medication), and the use of technical aids as appropriate. Based on these summaries, clinical algorithms / pathways are provided and the main clinical-decision situations are portrayed. The book is invaluable for all neurorehabilitation team members, clinicians, nurses, and therapists in neurology, physical medicine and rehabilitation, and related fields. It is a World Federation for NeuroRehabilitation (WFNR) educational initiative, bridging the gap between the rapidly expanding clinical research in stroke rehabilitation and clinical practice across societies and continents. It can be used for both clinical decision-making for individuals and as well as clinical background knowledge for stroke rehabilitation service development initiatives.

Download or read book Exoskeletons in Rehabilitation Robotics written by Eduardo Rocon and published by Springer Science & Business Media. This book was released on 2011-01-19 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.

Download or read book Robotic Devices and Adaptive Control Strategies for Robotic Rehabilitation After Stroke written by Hossein Taheri and published by . This book was released on 2014 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is the leading cause of neurological disability in the US and stroke patients typically require an extensive rehabilitation therapy to regain some of their lost neuromuscular functionality. Various robotic devices have been developed for post-stoke rehabilitation to reduce the labor intensity of therapists and rehabilitation cost and provide therapists with quantitative information about rehabilitation procedure and patients recovery. The robot-patient interaction plays an important role in effectiveness of robotic therapy. Different strategies have therefore been proposed and employed to control rehabilitation robots in order to improve the therapy outcome. However, since the underlying neural mechanisms of motor recovery after stroke are not completely understood, and the effect of each stroke is unique and can be very different from that of other strokes, it is not clear what control strategy is the best. Adaptive assist-as-needed (AAN) control is a movement training methodology with very desirable characteristics for rehabilitation robotic applications. It can adaptively modulate the level of robotic assistance to promote patient active involvement in therapy. In this research, the evolution of two robotic devices for stroke rehabilitation is presented. The FINGER (Finger Individuating Grasp Exercise Robot) rehabilitation robot was designed to assist with hand and finger rehabilitation. A discrete performance-based adaptive control was implementer on FINGER that could provide patients with a suitable assistance level in order to modulate success during therapy game play. In a separate experiment, an inertial and directionally dependent AAN controller was implemented and tested on the FINGER robot. Additionally, the design and development of a 4-DOF parallel robot for upper extremity impairment rehabilitation is presented. This end-effector type rehabilitation robot has low end-effector inertia, is very backdrivable, and is designed to counter-balance a significant portion of its own weight in order to reduce the need for the robot's actuators to overcome gravitational forces. Finally, an inertial adaptive AAN controller is proposed and tested using dynamic simulations.

Download or read book An Intelligent Pneumatic Muscle Actuated Exoskeleton for Robotic Gait Rehabilitation written by Jinghui Brian Cao and published by . This book was released on 2017 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gait disorder is a commonly lasting side-effect for stroke and spinal cord injury survivors. Conventional gait rehabilitation trainings provided by therapists are largely dependent on their experience. Such trainings are often challenging for the therapists due to their physically intensive nature. Hence, consistent optimal results cannot always be achieved. Robotic technologies were thus introduced to automate the gait rehabilitation trainings, in order to emancipate therapists from physically intensive work as well as making rehabilitation training more accessible to patients Research have shown that task specific repetitive training and patients' active participation can lead to more effective gait rehabilitation. However, conventional trajectory tracking controlled robotic gait rehabilitation could change the dynamics of the walking task, reduce inputs from patients' motor systems, lower their physical effort and thus result less effective outcomes. Therefore, it is important to ensure that the robotic gait rehabilitation training is more analogous to actual human walking and maximize the training subject's active participation. The goal of this thesis is the development of a new robotic GAit Rehabilitation EXoskeleton (GAREX) that is compliant with the current neurorehabilitation theories in order to achieve optimised robotic gait rehabilitation. Such goal is tackled systematically in terms of both robotic design and control algorithm research. GAREX was designed to provide safe, task specific gait rehabilitation to stroke patients. Pneumatic muscles (PM) actuators were used to drive GAREX, due to their high power/force to weight ratio and intrinsic compliance. Specially, the intrinsic compliance can create a wide range of dynamic environment for control strategy development. However, the negative correlation between PM's force output and contracting length means a trade-off between torque and range of motion specifications of the actuation system. The design of GAREX comprehensively addressed torque and joint range of motion requirements imposed by task-specific gait rehabilitation training. Control strategies are the key to implement the training theories into robotic operations. In order to encourage patients' active participation, the robot should be controlled to supply just enough guidance/assistance a patient needs to complete treadmill based gait training. To implement assist-as-needed (AAN) concept, the robot should also be able to assess the extent of active participation and change the assistance provided accordingly. The intrinsic compliance of GAREX's PM actuation system could be utilized to change the level of guidance. A new multi-input-multi-output (MIMO) sliding model (SM) controller was developed to adjust assistance while guiding training subjects to walk in predefined gait trajectories. Technical experimental validation indicated that controller was able to track reference gait trajectories and the desired joint space average antagonistic PM pressures. A study with 12 healthy subjects revealed strong statistical evidence that the proposed MIMO SM controller is able to vary the compliance of the exoskeleton To online assess the training patient's active participation, a fuzzy logic compliance adaptation (FLCA) controller is proposed. The FLCA algorithm utilizes the robotic kinematics and human- exoskeleton interaction torque of the knee joint, to estimate the extent of the patient's active participation. Based on the estimation, the desired compliance level can be automatically adjusted with higher compliance for more active participation and vice versa. Nevertheless, the FLCA algorithm does not require models of the exoskeleton and biomechanics of the training subject, which means less preparation work and easier implementation. Performance of the FLCA control system was validated with three healthy subjects who simulated different extents of participation. The FLCA control system could successfully adapt the joint actuation compliance accordingly in all the scenarios.

Download or read book Progress in Automation Robotics and Measuring Techniques written by Roman Szewczyk and published by Springer. This book was released on 2015-03-09 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent progresses in control, automation, robotics and measuring techniques. It includes contributions of top experts in the fields, focused on both theory and industrial practice. The particular chapters present a deep analysis of a specific technical problem which is in general followed by a numerical analysis and simulation and results of an implementation for the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be useful for both researchers working in the area of engineering sciences and for practitioners solving industrial problems.

Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications

Download or read book Rehabilitation Robotics written by Roberto Colombo and published by Academic Press. This book was released on 2018-03-08 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic. Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics. Provides a comprehensive review of recent developments in the area of rehabilitation robotics Includes information on both therapeutic and assistive robots Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems

Download or read book Applications of Synergies in Human Machine Interfaces written by Ramana Vinjamuri and published by Frontiers Media SA. This book was released on 2019-06-19 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Converging Clinical and Engineering Research on Neurorehabilitation IV written by Diego Torricelli and published by Springer Nature. This book was released on 2021-10-01 with total page 870 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of neurorehabilitation research and practice. It focuses on new methods for interfacing the human nervous system with electronic and mechatronic systems to restore or compensate impaired neural functions. Importantly, the book merges different perspectives, such as the clinical, neurophysiological, and bioengineering ones, to promote, feed and encourage collaborations between clinicians, neuroscientists and engineers. Based on the 2020 International Conference on Neurorehabilitation (ICNR 2020) held online on October 13-16, 2020, this book covers various aspects of neurorehabilitation research and practice, including new insights into biomechanics, brain physiology, neuroplasticity, and brain damages and diseases, as well as innovative methods and technologies for studying and/or recovering brain function, from data mining to interface technologies and neuroprosthetics. In this way, it offers a concise, yet comprehensive reference guide to neurosurgeons, rehabilitation physicians, neurologists, and bioengineers. Moreover, by highlighting current challenges in understanding brain diseases as well as in the available technologies and their implementation, the book is also expected to foster new collaborations between the different groups, thus stimulating new ideas and research directions.