Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779475
Kyoung-Soub Lee, Sanghoon Chae, Hyung‐Soon Park
This paper analyses the time-window size required to achieve the highest accuracy of the convolutional neural network (CNN) in classifying periodic upper limb rehabilitation. To classify real-time motions by using CNN-based human activity recognition (HAR), data must be segmented using a time window. In particular, for the repetitive rehabilitation tasks, the relationship between the period of the repetitive tasks and optimal size of the time window must be analyzed. In this study, we constructed a data-collection system composed of a smartwatch and smartphone. Five upper limb rehabilitation motions were measured for various periods to classify the rehabilitation motions for a particular time-window size. 5-fold cross-validation technique was used to compare the performance. The results showed that the size of the time-window that maximizes the performance of CNN-based HAR is affected by the size and period of the sample used.
{"title":"Optimal Time-Window Derivation for Human-Activity Recognition Based on Convolutional Neural Networks of Repeated Rehabilitation Motions","authors":"Kyoung-Soub Lee, Sanghoon Chae, Hyung‐Soon Park","doi":"10.1109/ICORR.2019.8779475","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779475","url":null,"abstract":"This paper analyses the time-window size required to achieve the highest accuracy of the convolutional neural network (CNN) in classifying periodic upper limb rehabilitation. To classify real-time motions by using CNN-based human activity recognition (HAR), data must be segmented using a time window. In particular, for the repetitive rehabilitation tasks, the relationship between the period of the repetitive tasks and optimal size of the time window must be analyzed. In this study, we constructed a data-collection system composed of a smartwatch and smartphone. Five upper limb rehabilitation motions were measured for various periods to classify the rehabilitation motions for a particular time-window size. 5-fold cross-validation technique was used to compare the performance. The results showed that the size of the time-window that maximizes the performance of CNN-based HAR is affected by the size and period of the sample used.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129180346","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779398
Tao Shen, M. Afsar, Md Rejwanul Haque, Eric W. McClain, S. Meek, Xiangrong Shen
Mobility impairment is becoming a challenging issue around the world with a rapid increase on aging population. Existing tools of walking assistance for mobility-impaired people include passive canes or wheeled rollators which increase energy consumption on the users and disturb the users’ walking rhythm, and powered wheeled chairs which could preclude the muscle activities and accelerate the degeneration of the lower limbs. The research in this paper aiming at helping mobility-impaired people proposes a novel robotic platform with quadrupedal locomotion. With motorized actuation, the quadruped robotic platform could accompany the user at the center and provide protection and possible walking assistance if needed. As the robotic platform is equipped with a leg locomotion, it can enlarge the user’s activity environments, such as both indoor flat floor and outdoor uneven terrain. It can even assist the user to involve in some mobility challenging activities, such as climbing stairs. In this paper, we illustrate the mechanical design of the robotic platform. A continuous gait planning is proposed to create a smooth locomotion for the robot. To quantify the performance, a system-level walking experimentation was conducted, and the results showed that quadruped robotic platform can maintain a statically stability which demonstrate the feasibility and capability of the robotic application for walking assistance.
{"title":"A Human-assistive Robotic Platform with Quadrupedal Locomotion*","authors":"Tao Shen, M. Afsar, Md Rejwanul Haque, Eric W. McClain, S. Meek, Xiangrong Shen","doi":"10.1109/ICORR.2019.8779398","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779398","url":null,"abstract":"Mobility impairment is becoming a challenging issue around the world with a rapid increase on aging population. Existing tools of walking assistance for mobility-impaired people include passive canes or wheeled rollators which increase energy consumption on the users and disturb the users’ walking rhythm, and powered wheeled chairs which could preclude the muscle activities and accelerate the degeneration of the lower limbs. The research in this paper aiming at helping mobility-impaired people proposes a novel robotic platform with quadrupedal locomotion. With motorized actuation, the quadruped robotic platform could accompany the user at the center and provide protection and possible walking assistance if needed. As the robotic platform is equipped with a leg locomotion, it can enlarge the user’s activity environments, such as both indoor flat floor and outdoor uneven terrain. It can even assist the user to involve in some mobility challenging activities, such as climbing stairs. In this paper, we illustrate the mechanical design of the robotic platform. A continuous gait planning is proposed to create a smooth locomotion for the robot. To quantify the performance, a system-level walking experimentation was conducted, and the results showed that quadruped robotic platform can maintain a statically stability which demonstrate the feasibility and capability of the robotic application for walking assistance.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130670706","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779467
Dongwon Kim
In the author’s previous study, an origami-structured compliant actuator, named OSCA, was invented for human-robot interaction where sufficient moment output is required under a limited power supply. In this study, the compressibility of airflow within the actuator that essentially provides elasticity as well as backdriveability is in the spotlight. Elasticity can increase the actuator’s power output in the same way as does a series elastic actuator (SEA). This study demonstrates that an OSCA operated with a servo valve is equivalent to an SEA with a typical spring. That is, power output amplification can be achieved with congruent stiffness of the air within the actuator.
{"title":"Analysis on an Origami-structured Actuator that Enhances Both Backdriveability and Power Amplification","authors":"Dongwon Kim","doi":"10.1109/ICORR.2019.8779467","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779467","url":null,"abstract":"In the author’s previous study, an origami-structured compliant actuator, named OSCA, was invented for human-robot interaction where sufficient moment output is required under a limited power supply. In this study, the compressibility of airflow within the actuator that essentially provides elasticity as well as backdriveability is in the spotlight. Elasticity can increase the actuator’s power output in the same way as does a series elastic actuator (SEA). This study demonstrates that an OSCA operated with a servo valve is equivalent to an SEA with a typical spring. That is, power output amplification can be achieved with congruent stiffness of the air within the actuator.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130991465","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779384
Joaquin Penalver-Andres, Jaime E. Duarte, H. Vallery, Verena Klamroth-Marganska, R. Riener, L. Marchal-Crespo, G. Rauter
One key question in motor learning is how the complex tasks in daily life – those that require coordinated movements of multiple joints – should be trained. Often, complex tasks are directly taught as a whole, even though training of simple movement components before training the entire movement has been shown to be more effective for particularly complex tasks (“part-whole transfer paradigm”). The important implication of the part-whole transfer paradigm, e.g. on the field of rehabilitation robotics, is that training of most complex tasks could be simplified and, subsequently, devices used to train can become simpler and more affordable. In this way, robot-assisted rehabilitation could become more accessible. However, often the last step in the training process is forgotten: the recomposition of several simple movement components to a complete complex movement. Therefore, at least for the last training step, a complex rehabilitation device may be required.In a pilot study, we wanted to investigate if a complex robotic device (e.g. an exoskeleton robot with many degrees of freedom), such as the ARMin rehabilitation robot, is really beneficial for training the coordination between several simpler movement components or if training using visual feedback would lead to equal benefits. In a study, involving 16 healthy participants, who were instructed in a complex rugby motion, we could show first trends on the following two aspects: i) the part-whole transfer paradigm seems to hold true and therefore, simple robots might be used for training movement primitives. ii) Visual feedback does not seem to have the same potential, at least in healthy humans, to replace visuo-haptic guidance for movement recomposition of complex tasks. Therefore, complex rehabilitation robots seem to be beneficial for training complex real-life tasks.
{"title":"Do we need complex rehabilitation robots for training complex tasks?","authors":"Joaquin Penalver-Andres, Jaime E. Duarte, H. Vallery, Verena Klamroth-Marganska, R. Riener, L. Marchal-Crespo, G. Rauter","doi":"10.1109/ICORR.2019.8779384","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779384","url":null,"abstract":"One key question in motor learning is how the complex tasks in daily life – those that require coordinated movements of multiple joints – should be trained. Often, complex tasks are directly taught as a whole, even though training of simple movement components before training the entire movement has been shown to be more effective for particularly complex tasks (“part-whole transfer paradigm”). The important implication of the part-whole transfer paradigm, e.g. on the field of rehabilitation robotics, is that training of most complex tasks could be simplified and, subsequently, devices used to train can become simpler and more affordable. In this way, robot-assisted rehabilitation could become more accessible. However, often the last step in the training process is forgotten: the recomposition of several simple movement components to a complete complex movement. Therefore, at least for the last training step, a complex rehabilitation device may be required.In a pilot study, we wanted to investigate if a complex robotic device (e.g. an exoskeleton robot with many degrees of freedom), such as the ARMin rehabilitation robot, is really beneficial for training the coordination between several simpler movement components or if training using visual feedback would lead to equal benefits. In a study, involving 16 healthy participants, who were instructed in a complex rugby motion, we could show first trends on the following two aspects: i) the part-whole transfer paradigm seems to hold true and therefore, simple robots might be used for training movement primitives. ii) Visual feedback does not seem to have the same potential, at least in healthy humans, to replace visuo-haptic guidance for movement recomposition of complex tasks. Therefore, complex rehabilitation robots seem to be beneficial for training complex real-life tasks.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131079042","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779521
F. Goldau, Tejas Kumar Shastha, Maria Kyrarini, A. Gräser
Assistive robots have the potential to support people with disabilities in their Activities of Daily Life. The drinking task has a high priority and requires constant assistance by caregivers to be executed regularly. Due to incapacitating disabilities such as tetraplegia, which is the paralysis of all limbs, affected people cannot use classic control interfaces such as joysticks. This paper presents a robotic solution to enable independent, straw-less drinking using a smart cup and no physically attached elements on the user. The system's hardware and software components are presented and the overarching control scheme described. The cup approaches the mouth utilising a user-friendly and vision-based robot control based on head pose estimation. Once contact has been established, the user can drink by tilting the cup with a force sensor-based control setup. Two experimental studies have been conducted, where the participants (mostly able-bodied and one tetraplegic), could separately experience the cup’s contactless approach and the contact-based sequence. First results show a high user acceptance rate and consistent positive feedback. The evaluation of internal data showed a high reliability of the safety-critical components with the test groups perceiving the system as intuitive and easy to use.
{"title":"Autonomous Multi-Sensory Robotic Assistant for a Drinking Task","authors":"F. Goldau, Tejas Kumar Shastha, Maria Kyrarini, A. Gräser","doi":"10.1109/ICORR.2019.8779521","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779521","url":null,"abstract":"Assistive robots have the potential to support people with disabilities in their Activities of Daily Life. The drinking task has a high priority and requires constant assistance by caregivers to be executed regularly. Due to incapacitating disabilities such as tetraplegia, which is the paralysis of all limbs, affected people cannot use classic control interfaces such as joysticks. This paper presents a robotic solution to enable independent, straw-less drinking using a smart cup and no physically attached elements on the user. The system's hardware and software components are presented and the overarching control scheme described. The cup approaches the mouth utilising a user-friendly and vision-based robot control based on head pose estimation. Once contact has been established, the user can drink by tilting the cup with a force sensor-based control setup. Two experimental studies have been conducted, where the participants (mostly able-bodied and one tetraplegic), could separately experience the cup’s contactless approach and the contact-based sequence. First results show a high user acceptance rate and consistent positive feedback. The evaluation of internal data showed a high reliability of the safety-critical components with the test groups perceiving the system as intuitive and easy to use.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133077285","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779565
Yufeng Zhang, Karen J. Nolan, D. Zanotto
Single-sided motor weakness, also known as hemiparesis, is the most prevalent gait impairment among stroke survivors, which often results in gait asymmetry. Studies on robot-assisted gait training (RAGT) have shown positive effects of force feedback on spatial symmetry; somatosensory stimulation is thought to facilitate recovery of temporal symmetry. Despite the known importance of sensorimotor integration for motor recovery, interventions that incorporate RAGT and somatosensory stimuli have been largely overlooked so far. In this paper, we explore how gait symmetry can be restored in healthy subjects following unilateral foot perturbations, using adaptive assistive forces and plantar vibrotactile stimuli provided by a bilateral powered ankle-foot orthosis. Results suggest that combined force feedback and vibrotactile stimuli may be more effective than force feedback alone in reducing spatial asymmetry. Further, force feedback did not produce significant improvements in temporal symmetry, unlike the combined modality. We discuss possible implications of these preliminary findings for future training paradigms for RAGT.
{"title":"Immediate Effects of Force Feedback and Plantar Somatosensory Stimuli on Inter-limb Coordination During Perturbed Walking","authors":"Yufeng Zhang, Karen J. Nolan, D. Zanotto","doi":"10.1109/ICORR.2019.8779565","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779565","url":null,"abstract":"Single-sided motor weakness, also known as hemiparesis, is the most prevalent gait impairment among stroke survivors, which often results in gait asymmetry. Studies on robot-assisted gait training (RAGT) have shown positive effects of force feedback on spatial symmetry; somatosensory stimulation is thought to facilitate recovery of temporal symmetry. Despite the known importance of sensorimotor integration for motor recovery, interventions that incorporate RAGT and somatosensory stimuli have been largely overlooked so far. In this paper, we explore how gait symmetry can be restored in healthy subjects following unilateral foot perturbations, using adaptive assistive forces and plantar vibrotactile stimuli provided by a bilateral powered ankle-foot orthosis. Results suggest that combined force feedback and vibrotactile stimuli may be more effective than force feedback alone in reducing spatial asymmetry. Further, force feedback did not produce significant improvements in temporal symmetry, unlike the combined modality. We discuss possible implications of these preliminary findings for future training paradigms for RAGT.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133422934","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779489
Tobias L. Bützer, Jan Dittli, Jan Lieber, Hubertus J. A. van Hedel, A. Meyer-Heim, O. Lambercy, R. Gassert
Children with hand motor impairment due to cerebral palsy, traumatic brain injury, or pediatric stroke are considerably affected in their independence, development, and quality of life. Treatment conventionally includes task-oriented training in occupational therapy. While dose and intensity of hand therapy can be promoted through technology, these approaches are mostly limited to large stationary robotic devices for non-task-oriented training, or passive wearable devices for children with mild impairments. Here we present PEXO, a fully wearable actuated pediatric hand exoskeleton to cover the special needs of children (6 to 12 years of age) with strong impairments in hand function. Through three degrees of freedom, PEXO provides assistance in various grasp types needed for the execution of functional tasks. It is lightweight, water proof, and inherently interacts safely with the user. It meets mechanical requirements such as force, fast closing movement, and battery lifetime derived from literature and discussions with clinicians. Appealing appearance, user-friendly design, and intuitive control with visual feedback of forearm muscle activity should keep the user motivated during training in the clinic or at home. A pilot test with a 6-years old child with stroke showed that PEXO can provide assistance in grasping various objects weighing up to 0.5 kg. These are promising first results on the way to make hand exoskeletons accessible for children with neuromotor disorders.
{"title":"PEXO - A Pediatric Whole Hand Exoskeleton for Grasping Assistance in Task-Oriented Training","authors":"Tobias L. Bützer, Jan Dittli, Jan Lieber, Hubertus J. A. van Hedel, A. Meyer-Heim, O. Lambercy, R. Gassert","doi":"10.1109/ICORR.2019.8779489","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779489","url":null,"abstract":"Children with hand motor impairment due to cerebral palsy, traumatic brain injury, or pediatric stroke are considerably affected in their independence, development, and quality of life. Treatment conventionally includes task-oriented training in occupational therapy. While dose and intensity of hand therapy can be promoted through technology, these approaches are mostly limited to large stationary robotic devices for non-task-oriented training, or passive wearable devices for children with mild impairments. Here we present PEXO, a fully wearable actuated pediatric hand exoskeleton to cover the special needs of children (6 to 12 years of age) with strong impairments in hand function. Through three degrees of freedom, PEXO provides assistance in various grasp types needed for the execution of functional tasks. It is lightweight, water proof, and inherently interacts safely with the user. It meets mechanical requirements such as force, fast closing movement, and battery lifetime derived from literature and discussions with clinicians. Appealing appearance, user-friendly design, and intuitive control with visual feedback of forearm muscle activity should keep the user motivated during training in the clinic or at home. A pilot test with a 6-years old child with stroke showed that PEXO can provide assistance in grasping various objects weighing up to 0.5 kg. These are promising first results on the way to make hand exoskeletons accessible for children with neuromotor disorders.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121241168","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779402
Azadeh Aghamohammadi-Sereshki, Mohammad Javad Darvishi Bayazi, F. T. Ghomsheh, F. Amirabdollahian
Rehabilitative exercise for people suffering from upper limb impairments has the potential to improve their neuro-plasticity due to repetitive training. Our study investigates the usefulness of Electroencephalogram and Electromyogram (EMG) signals for incorporation in humanrobot interaction loop. Twenty healthy participants recruited who performed a series of physical and cognitive tasks, with an inherent fatiguing component in those tasks. Here we report observed effects on EMG signals. Participants performed a Biceps curl repetitions using a suitable dumbbell in three phases. In phase 1, the initial weight was set to achieve maximum voluntary contraction (MVC). Phase 2 followed with 80 % MVC and phase 3 had 60% MVC. After each phase, they had a break around 3 minutes. EMG data were acquired from Biceps, Triceps, and Brachioradialis muscles. Different EMG features were explored to inform on muscle fatigue during this interaction. Comparing EMG during the first and last dumbbell of each phase demonstrated that the muscle fatigue had caused an increase in the average power (94% of cases) and amplitude (91%) and a decrease in the mean (80%) and the median frequency (57%) of EMG, which was more noticeable in Biceps. The results from integrated EMG showed a continuous rise in all three muscles which was more pronounced in Biceps muscle. Given these results, we identify EMG average power as the most reliable feature for informing on muscle fatigue.
{"title":"Investigation of Fatigue Using Different EMG Features","authors":"Azadeh Aghamohammadi-Sereshki, Mohammad Javad Darvishi Bayazi, F. T. Ghomsheh, F. Amirabdollahian","doi":"10.1109/ICORR.2019.8779402","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779402","url":null,"abstract":"Rehabilitative exercise for people suffering from upper limb impairments has the potential to improve their neuro-plasticity due to repetitive training. Our study investigates the usefulness of Electroencephalogram and Electromyogram (EMG) signals for incorporation in humanrobot interaction loop. Twenty healthy participants recruited who performed a series of physical and cognitive tasks, with an inherent fatiguing component in those tasks. Here we report observed effects on EMG signals. Participants performed a Biceps curl repetitions using a suitable dumbbell in three phases. In phase 1, the initial weight was set to achieve maximum voluntary contraction (MVC). Phase 2 followed with 80 % MVC and phase 3 had 60% MVC. After each phase, they had a break around 3 minutes. EMG data were acquired from Biceps, Triceps, and Brachioradialis muscles. Different EMG features were explored to inform on muscle fatigue during this interaction. Comparing EMG during the first and last dumbbell of each phase demonstrated that the muscle fatigue had caused an increase in the average power (94% of cases) and amplitude (91%) and a decrease in the mean (80%) and the median frequency (57%) of EMG, which was more noticeable in Biceps. The results from integrated EMG showed a continuous rise in all three muscles which was more pronounced in Biceps muscle. Given these results, we identify EMG average power as the most reliable feature for informing on muscle fatigue.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129012425","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779503
Taylor M. Gambon, J. Schmiedeler, Patrick M. Wensing
Robotic exoskeletons are a promising technology for rehabilitation and locomotion following musculoskeletal injury, but their adoption outside the physical therapy clinic has been limited by relatively primitive methods for identifying and incorporating the user’s gait intentions. Various intent detection approaches have been demonstrated using electromyography and electroencephalography signals. These technologies sense the human directly but introduce complications for donning/doffing the device and in measurement consistency. By contrast, sensors onboard the exoskeleton avoid these complications but sense the human indirectly via the human-robot interface. This pilot study examines if onboard sensors alone may enable identification of user intent. Joint positions and commanded motor currents are compared prior to and after changes in the user’s intended gait speed. Preliminary experimental results confirm that these measures are significantly different following intent changes for both able-bodied and non-able-bodied users. The findings suggest that intent detection is possible with onboard sensors alone, but the intent signals depend on exoskeleton control settings, user ability, and temporal considerations.
{"title":"Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors","authors":"Taylor M. Gambon, J. Schmiedeler, Patrick M. Wensing","doi":"10.1109/ICORR.2019.8779503","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779503","url":null,"abstract":"Robotic exoskeletons are a promising technology for rehabilitation and locomotion following musculoskeletal injury, but their adoption outside the physical therapy clinic has been limited by relatively primitive methods for identifying and incorporating the user’s gait intentions. Various intent detection approaches have been demonstrated using electromyography and electroencephalography signals. These technologies sense the human directly but introduce complications for donning/doffing the device and in measurement consistency. By contrast, sensors onboard the exoskeleton avoid these complications but sense the human indirectly via the human-robot interface. This pilot study examines if onboard sensors alone may enable identification of user intent. Joint positions and commanded motor currents are compared prior to and after changes in the user’s intended gait speed. Preliminary experimental results confirm that these measures are significantly different following intent changes for both able-bodied and non-able-bodied users. The findings suggest that intent detection is possible with onboard sensors alone, but the intent signals depend on exoskeleton control settings, user ability, and temporal considerations.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129231529","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}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779528
T. Desplenter, S. Chinchalkar, A. L. Trejos
Improving upon the therapist–device relationship is an important aspect that will increase the number of upper-limb robotic rehabilitation devices being used for therapy. One path to strengthen this relationship is for these devices to generate large data sets that rehabilitation therapists can use to enhance their patient assessment procedures. In this article, a national survey of Canadian therapists was conducted in order to learn about their data collection and analysis methods. A total of 33 responses were gathered from an online survey. These results show that there is a demand for the collection and visualization of various patient data, some of which cannot be easily collected with existing methods. It was also seen that there exists a large variation between therapists about which major steps constitute the general rehabilitation process. From these results, a set of fourteen general software requirements has been created. Insights from the survey regarding influences on software designs are briefly discussed. This research helps to enable the development of software systems that increase the interaction potential between therapists and robotic devices.
{"title":"Enhancing the Therapist–Device Relationship: Software Requirements for Digital Collection and Analysis of Patient Data","authors":"T. Desplenter, S. Chinchalkar, A. L. Trejos","doi":"10.1109/ICORR.2019.8779528","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779528","url":null,"abstract":"Improving upon the therapist–device relationship is an important aspect that will increase the number of upper-limb robotic rehabilitation devices being used for therapy. One path to strengthen this relationship is for these devices to generate large data sets that rehabilitation therapists can use to enhance their patient assessment procedures. In this article, a national survey of Canadian therapists was conducted in order to learn about their data collection and analysis methods. A total of 33 responses were gathered from an online survey. These results show that there is a demand for the collection and visualization of various patient data, some of which cannot be easily collected with existing methods. It was also seen that there exists a large variation between therapists about which major steps constitute the general rehabilitation process. From these results, a set of fourteen general software requirements has been created. Insights from the survey regarding influences on software designs are briefly discussed. This research helps to enable the development of software systems that increase the interaction potential between therapists and robotic devices.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115674575","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}
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