Download or read book Development of an Upper body Robotic Rehabilitation Platform that Furthers Motor Recovery After Neuromuscular Injuries written by Bongsu Kim and published by . This book was released on 2016 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation presents the development of an upper-body exoskeleton and its control framework for robotic rehabilitation of the arm and shoulder after a neurological disorder such as a stroke. The first step is designing an exoskeleton hardware that supports natural mobility of the human upper body with a wide range of motion for enabling most rehabilitation exercises. The exoskeleton is equipped with torque-controllable actuation units for implementing various robotic rehabilitation protocols based on force and impedance behaviors. The control framework is designed to exhibit a highly backdrivable behavior with a gravity compensation for the robot's weight and optional gravity support for user's arm weight to promote voluntary movements of patients with motor impairments. The control framework also serves as a `substrate' of other robotic control behaviors for rehabilitation exercises by superimposing desired force or impedance profiles. A stability analysis is performed to examine the coupled stability between the robot and human. After designing the hardware and control, several experiments are carried out to test the mobility and dynamic behavior of the robot. Lastly, a human subject study evaluates the effectiveness of the robot's shoulder mechanism and control algorithm in assisting the coordination around the shoulder. The results show that the robot induces desirable coordination in the presence of abnormalities at the shoulder.

Download or read book Development of Discrete Event System DES based Controller for Robot assisted Upper Limb Rehabilitation Platform written by Sado Fatai and published by . This book was released on 2015 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Development of a Haptic robotic Platform for Moderate Level Upper limb Stroke Rehabilitation written by Paul Tsz Yeung Lam and published by . This book was released on 2007 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reaching motion is important as it is the basic motion used for many activities of daily living, and in providing support and anchoring for other body movements (e.g., pushing down to help stand up or using the rails on stairs for support). However, this type of motor function is often lost when a person suffers a stroke or other neurological impairment. Consequently, we are proposing a haptic-enabled exercise system to assist therapists perform upper-limb reaching motion therapy for moderate-level stroke patients. This work will extend on existing knowledge by studying: (1) an anthropometrically inspired haptic exercise platform; (2) an unobtrusive upper-body postural sensing system; and (3) an elbow stimulation device. Trials with eight experienced therapists demonstrated that the proof-of-concept system is capable of delivering upper-limb reaching therapy. It was suggested that the project proceed to clinical trials for efficacy study.

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 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 Control and Dynamic Manipulability of a Dual Arm Hand Robotic Exoskeleton System EXO UL8 for Rehabilitation Training in Virtual Reality written by Yang Shen and published by . This book was released on 2019 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Every year there are about 800,000 new stroke patients in the US, and many of them suffer from upper limb neuromuscular disabilities including but not limited to: weakness, spasticity and abnormal synergy. Patients usually have the potential to rehabilitate (to some extent) based on neuroplasticity, and physical therapy intervention helps accelerate the recovery. However, many patients could not afford the expensive physical therapy after the onset of stroke, and miss the opportunity to get recovered. Robot-assisted rehabilitation thus might be the solution, with the following unparalleled advantages: (1) 24/7 capability of human arm gravity compensation; (2) multi-joint movement coordination/correction, which could not be easily done by human physical therapists; (3) dual-arm training, either coupled in joint space or task space; (4) quantitative platform for giving instructions, providing assistance, exerting resistance, and collecting real-time data in kinematics, dynamics and biomechanics; (5) potential training protocol personalization; etc. However, in the rehabilitation robotics field, there are still many open problems. I am especially interested in: (1) compliant control, in high-dimensional multi-joint coordination condition; (2) assist-as-needed (AAN) control, in quantitative model-based approach and model-free approach; (3) dual-arm training, in both symmetric and asymmetric modes; (4) system integration, e.g., virtual reality (VR) serious games and graphical user interfaces (GUIs) design and development. Our dual-arm/hand robotic exoskeleton system, EXO-UL8, is in its 4th generation, with seven (7) arm degrees-of-freedom (DOFs) and one (1) DOF hand gripper enabling hand opening and closing on each side. While developing features on this research platform, I contributed to the robotics research field in the following aspects: (1) I designed and developed a series of eighteen (18) serious VR games and GUIs that could be used for interactive post-stroke rehabilitation training. The VR environment, together with the exoskeleton robot, provides patients and physical therapists a quantitative rehabilitation training platform with capability in real-time human performance data collection and analysis. (2) To provide better compliant control, my colleagues and I proposed and implemented two new admittance controllers, based on the work done by previous research group alumni. Both the hyper parameter-based and Kalman Filter-based admittance controllers have satisfactory heuristic performance, and the latter is more promising in future adaptation. Unlike many other upper-limb exoskeletons, our current system utilizes force and torque (F/T) sensors and position encoders only, no surface electromyography (sEMG) signals are used. It brings convenience to practical use, as well as technical challenges. (3) To provide better AAN control, which is still not well understood in the academia, I worked out a redundant version of modified dynamic manipulability ellipsoid (DME) model to propose an Arm Postural Stability Index (APSI) to quantify the difficulty heterogeneity of the 3D Cartesian workspace. The theoretical framework could be used to teach the exoskeleton where and when to provide assistance, and to guide the virtual reality where to add new minimal challenges to stroke patients. To the best of my knowledge, it is also for the first time that human arm redundancy resolution was investigated when arm gravity is considered. (4) For the first time, my colleagues and I have done a pilot study on asymmetric dual-arm training using the exoskeleton system on one (1) post-stroke patient. The exoskeleton on the healthy side could trigger assistance for that on the affected side, and validates that the current mechanism/control is eligible for asymmetric dual-arm training. (5) Other works of mine include: activities of daily living (ADLs) data visualization for VR game difficulty design; human arm synergy modeling; dual-arm manipulation taxonomy classification (on-going work).

Download or read book Upper Motor Neurone Syndrome and Spasticity written by Michael P. Barnes and published by Cambridge University Press. This book was released on 2001-02 with total page 332 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a thorough, practical reference and guide for all health professionals involved in the management of spasticity.

Download or read book Development of a Robotic Device for the Physical Training of Human Upper Extremity written by Jorge Adrian Ramos and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis focuses on the development of a robotic device to be used in parallel with observational learning techniques for facilitating the recovery of the upper limb in post-stroke patients. It has been shown in the existing observational learning literature that observational practice for the execution of goal-directed single arm movements can engage the mirror neuron system and motor areas involved in learning motor actions. On the other hand, robotic-based therapy protocols have proven successful in which participants are able to learn the required perception-action skill. However, robotics have not been overly successful in the generalization of learning to other tasks and this is an essential aspect on improving performance on Activities of Daily Life (ADL). Observational learning of motor skills has been shown to produce transfer across limbs and generalization across muscle groups in the same limb, as well as transfer to perceptual tasks. Therefore, our long-term hypothesis is that a combination of interactive robotics and action observation techniques might offer a greater benefit regarding transfer to ADLs in comparison to pure robotic training. The results from this research broaden the theoretical understanding of observational learning and drive the future development of rehabilitation protocols using the combination of robotic and observational learning techniques. We hypothesize that if the application of these techniques, for non-stroke individuals, yield benefits for the learning of motor/skill actions, then such paradigm will serve as a foundation in the future development of methods for facilitating the recovery of upper limb function after stroke. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/149455

Download or read book Movement Training and Post stroke Rehabilitation Using a Six Degree of Freedom Upper extremity Robotic Orthosis and Virtual Environment written by Steven James Spencer and published by . This book was released on 2011 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt: Prior research has shown that high-intensity repetitive movement training is an effective method for restoring some function to patients with chronic hemiparesis resulting from a stroke. The goal of this dissertation was to develop and evaluate a robotic system for assisting in post-stroke upper-extremity rehabilitative physical therapy. The primary contributions of this research are in: the development of control software for a rehabilitation robot; the development of a virtual environment for rehabilitation; the integration between a robot controller and a virtual environment; the design and analysis of an algorithm for maintaining a challenging level of therapy; and a clinical trial testing the efficacy of functional multi-joint movement therapy (FMJMT) versus isolated individual joint movement training (IIJMT). The robotic mechanism created to provide therapy is a 6 degree-of-freedom (DOF) pneumatically actuated exoskeleton, which included a 3 DOF shoulder, a 1 DOF elbow, and a 2 DOF module for forearm supination/pronation and wrist flexion/extension. The shoulder is driven by redundant actuation of a novel spatial parallel mechanism. The elbow, forearm, and wrist are all actuated in serial with four-bar slider-crank mechanisms. The virtual environment consisted of several games with point-to-point reaching or continuous tracking tasks. Some of the games required squeezing a pressure sensitive device for grasping items in the games. There was also another novel environment that allowed for a coordinated movement strength assessment. An algorithm that was developed to discretely alter the game difficulty was implemented in some games to maintain a challenging level of therapy for the patients. This algorithm is also shown to detect motor improvement. The clinical trial involved a crossover design study with 20 patients who had chronic hemiparesis after stroke. Of these, 10 patients received FMJMT for 3 one hour sessions per week for 4 weeks followed by IIJMT for the same duration. The other 10 subjects received both interventions in the opposite order. The results from the study indicated both training techniques promoted motor recovery with slightly more benefit from IIJMT suggesting that the complexity of multi-DOF robots may not be necessary for promoting upper limb recovery in hemiplegic stoke survivors.

Download or read book Simulation of Interactive Motor Behaviours in Game Theory Framework for Upper limb Rehabilitation written by Anna Solé Ariza and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: An increasing number of individuals are affected by neurological diseases worldwide. Nowadays, stroke is the leading cause of adult disability in western countries, with upper limb hemiparesis being one of the most common consequences. Therefore, there is a growing interest in developing robotic interfaces to provide neurologically affected individuals the right amount of assistance to guarantee a great recovery. The interactive control of such rehabilitation robots with a stroke survivor is critical to motor recovery, and a successful rehabilitation requires the patient to be engaged in motor task execution. This thesis focuses on the new development of an interactive robot controller, and aims to ensure that differential game theory can be used as a framework to describe various interactive behaviours between a robot and a human user. In this thesis, it will be simulated the interaction between a robot and an injured human user who is recovering after stroke in the game theory framework, demonstrating that it can induce a stable interaction between the two partners by identifying each other's control law and allow them to successfully perform the task with minimum effort. In this thesis is expected to find a detailed description of the different interactive motor behaviours that exist between a rehabilitation robot and a human user: collaboration, cooperation, competition and co-activity. It will also contain the simulation of these behaviours. In the description of the human-robot interactive motor behaviours, it will be seen that some of these behaviours are modelled in the simulation in the game theory framework, such as collaboration, cooperation and competition, while co-activity consists on a problem where the robot and the human are modelled as two independent linear quadratic regulators. Finally, it will be provided a comparison between the use of a game theory controller and the use of a linear quadratic regulator controller for the development of a rehabilitation robot and it will be demonstrated why a game theory controller is a better option for robots that work in physical contact with humans.

Download or read book Integration of Assistive Technology in the Information Age written by Mounir Mokhtari and published by IOS Press. This book was released on 2001 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this book is to close the gap between high technology and accessibility for people having lost their independence due to the loss of physical and/or cognitive capabilities. Robots and mechatronic devices bring the opportunity to improve the autonomy of disabled people and facilitate their social and professional integration by assisting them to perform daily living tasks. Technical topics of interest include, but are not limited to: Communication and learning applications in SCI an CP, Interface and Internet-based designs, Issues in human-machine interaction, Personal robotics, Hardware and control, Evaluation methods, Clinical experience, Orthotics and prosthetics, Robotics for older adults, Service robotics, Movement physiology and motor control.

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 Locomotor Training written by Susan J. Harkema and published by . This book was released on 2011 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Physical rehabilitation for walking recovery after spinal cord injury is undergoing a paradigm shift. Therapy historically has focused on compensation for sensorimotor deficits after SCI using wheelchairs and bracing to achieve mobility. With locomotor training, the aim is to promote recovery via activation of the neuromuscular system below the level of the lesion. What basic scientists have shown us as the potential of the nervous system for plasticity, to learn, even after injury is being translated into a rehabilitation strategy by taking advantage of the intrinsic biology of the central nervous system. While spinal cord injury from basic and clinical perspectives was the gateway for developing locomotor training, its application has been extended to other populations with neurologic dysfunction resulting in loss of walking or walking disability.

Download or read book Stroke Recovery and Rehabilitation written by Richard L. Harvey, MD and published by Demos Medical Publishing. This book was released on 2008-11-20 with total page 817 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Doody's Core Title 2012 Stroke Recovery and Rehabilitation is the new gold standard comprehensive guide to the management of stroke patients. Beginning with detailed information on risk factors, epidemiology, prevention, and neurophysiology, the book details the acute and long-term treatment of all stroke-related impairments and complications. Additional sections discuss psychological issues, outcomes, community reintegration, and new research. Written by dozens of acknowledged leaders in the field, and containing hundreds of tables, graphs, and photographic images, Stroke Recovery and Rehabilitation features: The first full-length discussion of the most commonly-encountered component of neurorehabilitation Multi-specialty coverage of issues in rehabilitation, neurology, PT, OT, speech therapy, and nursing Focus on therapeutic management of stroke related impairments and complications An international perspective from dozens of foremost authorities on stroke Cutting edge, practical information on new developments and research trends Stroke Recovery and Rehabilitation is a valuable reference for clinicians and academics in rehabilitation and neurology, and professionals in all disciplines who serve the needs of stroke survivors.

Download or read book Intelligent Computing Methodologies written by De-Shuang Huang and published by Springer. This book was released on 2019-07-30 with total page 833 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set of LNCS 11643 and LNCS 11644 constitutes - in conjunction with the volume LNAI 11645 - the refereed proceedings of the 15th International Conference on Intelligent Computing, ICIC 2019, held in Nanchang, China, in August 2019. The 217 full papers of the three proceedings volumes were carefully reviewed and selected from 609 submissions. The ICIC theme unifies the picture of contemporary intelligent computing techniques as an integral concept that highlights the trends in advanced computational intelligence and bridges theoretical research with applications. The theme for this conference is “Advanced Intelligent Computing Methodologies and Applications.” Papers related to this theme are especially solicited, including theories, methodologies, and applications in science and technology.

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.