Download or read book Development of an Upper Limb Rehabilitation Device for Home Use written by Chung-che Wei and published by . This book was released on 2011 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is a serious medical condition that often involves the death of the recipient. Although fatality is not definite, many stroke survivors tend to suffer the inconvenience of losing the functions of their limbs. Studies have shown that task oriented recursive movements can help stroke affected individuals to recover mobility of their damaged limbs. Manual therapy used to make stroke patients recover movement is successful, but robot-assisted therapy excels in many fields including accuracy and repeatability. Many currently available rehabilitation robots share common disaffections of being overly complex, costly and voluminous. A compact and inexpensive upper limb rehabilitation device was therefore developed in this study to provide stroke therapy to the general public. For the developed rehabilitation device, DC motors were selected as the actuator of the system for their high power and torque capabilities. PID controller was implemented for control of motor position, while trapezoidal velocity profile was employed for motor speed control. Sensors such as accelerometers, encoders and strain gauges were utilized to provide detailed data of the rehabilitator and various onboard components. Safety was enforced with both boundary walls and limit switches, as well as software controlled emergency stop. Microcontrollers were used as the system controllers, with a main Master microcontroller handling system operations while two Slave microcontrollers were dedicated to the control of the DC motors. A GUI was developed for the PC to allow interfacing and control of the rehabilitator. The program permits tuning of various robot parameters, and offers different therapy modes as well as an interactive game. The upper limb rehabilitation device developed has followed the set specifications and achieved the desired performance. The rehabilitator is capable of producing successful trajectory runs with a maximum error of 5 mm at low speed (1.88 rad/s) and 6 mm at high speed (3.77 rad/s) under no load condition. Similar results were also obtained maximum deviation of 4 mm at low speed and 6 mm at high speed under arm loaded setup.

Download or read book A Bilateral Upper Limb Rehabilitation Device for Home Use written by Yupu Wang and published by . This book was released on 2016 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: Current upper limb rehabilitation for stroke patients is based on a conventional physical therapy supervised by therapists. The most of the robot-based rehabilitation is developing under a bulky machine which is not suitable for home use. High rehabilitation fees and inconvenience in use lead patients from ordinary home to miss the suitable time in rehabilitation. This research explores an end-effector device which is light and suitable for the home environment. By balancing the contradiction of device function achievement and ordinary home use, this 3 DOF rehabilitation device is the appropriate choice for the current situation. Different with other low-cost devices in the markets, it can provide an assistant force in the recovery process. It makes severe patients can take passive rehabilitation exercises under totally device leading and minor stroke patients take active rehabilitation exercises by their own intention. After studying the upper limb motions in normal physical actions, the joint movement in those motions is discussed with details. Some effective recovery tasks are achieved by analyzing the conventional physical exercise for stroke. The research of human-machine interaction is conducted to reveal a method in interaction tasks design. The new version of device is designed and has the potential for better performance in structural stability, but the development in software and testing of new strategies are implemented on the old version because of funding issue. Different recovery patterns with different control strategies are exploited and compared in this article to select the appropriate training model in upper limb rehabilitation. The approach of novel human-machine interface, control strategy and upper limb recovery strategy built in this research offers a potential inspiration in upper limb rehabilitation device development.

Download or read book Development of Home based Upper Limb Rehabilitation Device written by Yusmunierah Yusof and published by . This book was released on 2017 with total page 60 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Affordable Portable and User Centered Systems for Stroke Subjects written by Mara Montoya and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this thesis is to discuss the use of rehabilitation robotics in non-specialized settings, identify technical, social, and economic bottlenecks, make predictions about technological trends developing from 2012 to 2025, and present findings and investment opportunities for private corporations, stakeholders, and governments in order to assist them in making funding decisions. Epidemiological and demographical changes like aging are leading to a growing service-robot market (rehabilitation devices are part of this domain), which will continue to grow over the next twenty years. The production of rehabilitation devices will increase with the overall market sector. Clinical trials have proven that robotics systems can be used effectively for upper-limb rehabilitation. Supporting the growth of the rehabilitation robotics industry (especially those rehabilitation robots designed for use outside of rehabilitation clinics) could be beneficial to post-stroke subjects in terms of access, intensity, and cost efficiency. The findings of this thesis show that many of the existing rehabilitation devices which help stroke victims regain upper-limb motion are ineffective in nonspecialized settings (like the patient's home) and furthermore, many promising robots have yet to be commercialized. The findings also reveal a gap between the five important stakeholder groups (patients, partners or relatives, paid carers, therapists, and health and social care budget holders) and their needs, such as trade-offs between therapists, systems, and patients. Current rehabilitation devices which are widely accepted for clinical use like the ARMin (Armeo Power of Hocoma) amongst others, are discussed in this paper. Observations and suggestions for a more user-centered design are made for currently available devices, which often fail to provide a 100% ergonomic solution. The research shows that there is a need for user-driven research, outstandi.

Download or read book Design of an Upper Limb Rehabilitation Device Intended for Home Use written by Faisal Almesfer and published by . This book was released on 2010 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Development of an Upper Limb Robotic Device for Stroke Rehabilitation written by Elaine Chen Lu and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Development of a Home based Computer Assisted Arm Rehabilitation hCAAR Device for Upper Limb Exercises in Stroke Patients written by Manoj Sivan and published by . This book was released on 2014 with total page 468 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 Design and Evaluation of the CataPULT written by Michael Sutherland and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this project was to design and evaluate a mechanical training device for the upper limb rehabilitation of stroke survivors. The importance of this issue is widely acknowledged, particularly given the rising number of stroke patients presenting with rehabilitation challenges. Therefore a feasible and clinically effective solution for rehabilitation of the upper limb is needed. A critical review of literature examined theory and concepts pertaining to complications of general, stroke, rehabilitation of the upper limb, device design, testing processes and benefits and challenges of existing devices. A three-phased approach was adopted towards the design and evaluation of the device named CataPULT; Development of device specification, Production of the device, and Testing of the device on a single healthy subject. Testing involved three assessments; Isolated range of motion; Elastics load capacity; and Functional movement. CataPULT demonstrated the capacity for engaging three modes of operation; between 'Elastic', 'Free', and 'Locked' modes which are interchangeable within clinical environments with appropriate tools. Findings highlighted that CataPULT has the potential to support the arm and provide assisted movement through a functional range of motion to facilitate upper limb rehabilitation following stroke. The elastics enhanced device function by applying forces over the mechanical joints to assist in joint motion, thus reducing the energy required to perform functional activities. Other advantages of the CataPULT identified in comparison with alternative technologies such as robotic devices were that the device involves a cost effective manufacturing process, components are readily available and inexpensive to replace, and the device is extremely portable at home and in the clinical environment. With further development of the device, additional benefits may be possible and to this end, further opportunities for research have been identified.

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 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 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 Design and Development of a 2 Degree of Freedom Haptic Device for Neurorehabilitation written by and published by . This book was released on 2015 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability to provide iteratively consistent, resistive therapy has been proven to have a positive outcome on the degree of achievable rehabilitation for sufferers of neurological impairment. Furthermore, the thoroughness of recovery depends on several other critical factors, namely, the duration and frequency of therapy treatment. These factors are all subject to the availability and capability of the administering therapist. Any reductions in these factors minimize the potential for increased brain plasticity during treatment, and as a result, reduce the potential for recovery. It is evident from this data that where maximizing recovery is concerned, a means of providing the patient unrestricted access to quality treatment is the only means of optimizing recovery. Robots, by their very design and functionality can replicate movements more efficiently and consistently than the methods of conventional therapy while providing the added benefit of performance feedback and resistivity. Robots are also impervious to fatigue and strain over high volume training sessions. These properties make the use of robotics in rehabilitation therapy an obvious area of focus and avenue for progression in the field of physical therapy. In recent years, some clinics have utilized robots to aid in administering rehabilitation therapy to their patients. Currently, the majority of robotic devices offered for this purpose are heavy, bulky, and costly. These properties result in a lack of feasibility for in-home adoption. As a result, the patient is limited in the frequency and duration of treatment. There is an advantage in providing patients with the ability to perform assistive and resistive therapy as often and for as long as possible in the comfort of their own home for the purposes of maximizing recovery. Proposed in this thesis is a haptic upper-limb end effector neurorehabilitation device that was designed and developed specifically to address the lack of feasible home use options for upper-limb rehabilitation. The device accomplishes this without compromising functionality and benefit to the user. Costing and weighing far less than current offerings, while taking up significantly less space and highly transportable, this device provides the potential for patients to maximize recovery beyond their current available options. The appendices for this thesis will be stored on a digital disc and available in the media center at the San Diego State University library.

Download or read book Torque Controlled Exoskeletons for Take home Upper Limb Rehabilitation written by Rafael Casas and published by . This book was released on 2022 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke is the leading cause for long term disability. There are approximately 800,000 new stroke cases every year in the US. Stroke survivors often face impairment in the upper extremity with reaching and grasping movements. Because the upper extremity is needed for activities of daily living (ADL) this becomes the focus of rehabilitation. A very high level of motor control is required before they can effectively use their upper limb in ADL. Hand motor control is usually the most limited and the probability of regaining functional use of their hand is low. Movement is impaired by hypertonia (increased passive resistance to movement), inability to activate extensors, and abnormal co-contraction of flexors. Highly repetitive arm and hand task practice has been found to be most effective for individuals with mild impairment. Practice is impossible if the patient is unable to complete the task. Exoskeletons can help patients with task practice as they apply forces that enable completion of movements that would otherwise be impossible. With exoskeletal support, the user will experience less fatigue with movements as less effort is required. In addition to the support offered by exoskeletons, home-based robotic therapy further enables repetitive task practice as it offers stroke survivors the ability to wear exoskeletons at home and integrate use of the upper limb into ADL. In addition to hand impairment, many stroke patients deal with an inability to extend their elbow when their shoulder is elevated against gravity. Proximal arm muscles and hand muscles are abnormally coupled, such that arm posture, activation level of proximal muscles, and lifting the arm against gravity can increase impairment in hand function. Many robotic treatments try to address this by providing the arm with partial support against gravity to facilitate the practice of reaching within a larger workspace. Thus, gravity compensation for the arm is predicted to improve functional ability in the entire limb. In order to enable gravity compensation, the CUA lab developed SpringWear, a wearable exoskeleton that allows stroke survivors to perform ADL with the impaired limb through reduced effort and improved kinematics. The shoulder mechanism balances the arm against gravity using a zero-rest length spring and an assistance profile that closely matches the gravity loading of the upper extremity. Assistance can be customized by adjusting the stiffness of the springs. SpringWear was designed for the home environment, enabling highly variable and meaningful task practice. The device provides assistance to forearm supination, elbow extension, and gravity compensation for the shoulder. SpringWear weighs 1.2 kg with a light-weight carbon fiber back splint as the base of the device and rubber bands as springs for assistance. While the rehab robotics field has made progress in improving hand and limb rehabilitation, gaps still exist in the wearability, usability, accessibility, and kinematics of exoskeletal devices. The rehabilitation robotics lab at Catholic University of America (CUA) previously developed the HandSOME, a passive, single degree of freedom (DOF), spring operated exoskeleton that assists patients in opening their affected hand. The second iteration of the design, HandSOME II, while still being passive and driven by rubber bands, provides more DOF and allows users to perform more complicated hand gestures. By building on previous research and development in the CUA lab, this doctoral research proposal consists of three projects with the goal of advancing the gaps in the rehab robotics field. 1. A one-day clinical study examined how effective the HandSOME II device was in reaching and grasping tasks and how it improved the range of motion with stroke users. 2. A longitudinal take-home study evaluated the effectiveness of home training for stroke subjects with the HandSOME II. The research explored gains though robotic therapy and results were quantified. 3. SpringWear was redesigned to focus on shoulder gravity compensation in order to improve its usability. Two passive joints were retained to allow free shoulder movement and assistance to shoulder elevation in any plane. Development will be followed by testing with stroke patients.

Download or read book Development of Novel Devices for Upper extremity Rehabilitation written by Adrianus Hubertus Arno Stienen and published by . This book was released on 2008 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book An Intelligent Bilateral System for Upper limb Rehabilitation Based on Industrial Robots written by Bo Sheng and published by . This book was released on 2018 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot-assisted rehabilitation solutions are being proposed as therapeutic adjuncts to facilitate clinical applications in recent decades. They would allow therapists to be emancipated from physically intensive work, and more advanced and interesting rehabilitation training could become accessible to patients with low cost. To date, several rehabilitation devices have been developed or revised to perform bilateral exercises. A new therapy method has been proposed in recent decades, based on the finding that bilateral exercises might promote functional improvement through the reinforcement of corticospinal pathways from the intact hemisphere to the affected arm. However, the safety and reliability of existing bilateral rehabilitation devices is yet to be confirmed, and the cost will be high if the device is expected to provide true bilateral exercises in three-dimensional (3D) space. The goal of this dissertation is therefore to develop a new bilateral rehabilitation system for upper-limb rehabilitation, aiming for safe, stable, and interesting bilateral training for stroke survivors. Some biological data can be measured objectively and in a timely fashion through the proposed bilateral rehabilitation system, which would be analysed to assess recovery stages and further explore bilateral recovery processes. The proposed bilateral rehabilitation system has been developed, validated and utilised in four studies discussed in this thesis. The first one is to develop an industrial robot-based bilateral rehabilitation device for upper limbs including hardware and software, which should be capable of providing a safe and stable training environment. The second one is to develop an intelligent bilateral training subsystem, which is expected to provide true robot-assisted bilateral exercises to cover different recovery stages. The third one is to explore muscle activation patterns during different bilateral training based on the proposed bilateral device and training protocols. These muscle activation patterns can be used as the foundation for the development of bilateral devices, training protocols, and assessment criteria. The last one is to develop a biological signal-based evaluator, which can select different training protocols according to personal biological data. So far, a total of 18 healthy participants have been recruited for evaluating the proposed bilateral rehabilitation system (13 participants tested the device and 5participants tested the evaluator). The results of the experiment show that the proposed bilateral rehabilitation device is safe and stable, the training protocols are reliable and interesting, and the evaluator is objective and time-saving. Meanwhile, the muscle activation patterns gathered using the system are informative, which can help in understanding the cooperation mechanism of each pair of muscles under different bilateral training conditions, and further evaluate the effectiveness of robot-assisted bilateral training. In summary, the developed bilateral rehabilitation system and a comprehensive and systematic study from this work has demonstrated that such a system has the potential for clinical applications with safe, reliable, stimulating, and informative bilateral exercises.