Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501073
M.G. van Elk, B. Driessen, M. Dorrepaal, J. J. van der Werff, E.G. van der Meche, A. Aulbers
The active rehabilitation system (ACRE) provides motivation-based therapy at home to people who suffer from (temporary) loss of muscle control in the upper limbs. In a first prototype the movement of the patient's arm (i.e. the therapy) is supported by a passive gravity compensating mechanism. The patient interacts with a therapy-game while the patient's movements are measured. Data analysis on the movement can help in researching the benefits of different types of exercises. The prototype showed promising results during the first user trials. However, during these trials the system put rather high constraints on the users with respect to the minimal force and reach needed to execute certain tasks. By developing a new, motorized gravity compensation mechanism, these constraints can be lowered and the group of patients that can benefit from this system can be enlarged. Intensive evaluations of the system are planned, starting from June 2005 until the end of the year.
{"title":"A motorized gravity compensation mechanism used for active rehabilitation of upper limbs","authors":"M.G. van Elk, B. Driessen, M. Dorrepaal, J. J. van der Werff, E.G. van der Meche, A. Aulbers","doi":"10.1109/ICORR.2005.1501073","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501073","url":null,"abstract":"The active rehabilitation system (ACRE) provides motivation-based therapy at home to people who suffer from (temporary) loss of muscle control in the upper limbs. In a first prototype the movement of the patient's arm (i.e. the therapy) is supported by a passive gravity compensating mechanism. The patient interacts with a therapy-game while the patient's movements are measured. Data analysis on the movement can help in researching the benefits of different types of exercises. The prototype showed promising results during the first user trials. However, during these trials the system put rather high constraints on the users with respect to the minimal force and reach needed to execute certain tasks. By developing a new, motorized gravity compensation mechanism, these constraints can be lowered and the group of patients that can benefit from this system can be enlarged. Intensive evaluations of the system are planned, starting from June 2005 until the end of the year.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114350503","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501114
Kyong Il Kang, Sanford T. Freedman, Maja J. Matari, Mark J. Cunningham, Becky Lopez
This paper presents a feasibility study of using socially-aware autonomous robots to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is described that provides motivation and support for cardiac patients who must perform regular but painful breathing exercises. Initial validation of the system has garnered positive responses from test subjects and shows that robots have a potential to aid nursing staff in some tasks requiring patient interaction.
{"title":"A hands-off physical therapy assistance robot for cardiac patients","authors":"Kyong Il Kang, Sanford T. Freedman, Maja J. Matari, Mark J. Cunningham, Becky Lopez","doi":"10.1109/ICORR.2005.1501114","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501114","url":null,"abstract":"This paper presents a feasibility study of using socially-aware autonomous robots to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is described that provides motivation and support for cardiac patients who must perform regular but painful breathing exercises. Initial validation of the system has garnered positive responses from test subjects and shows that robots have a potential to aid nursing staff in some tasks requiring patient interaction.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134473528","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501125
Yukio Saito, Atsuo Ogawa, Hiroshi Negoto, K. Ohnishi
The most favorable electrical prosthetic hands to our patients both in size and in appearance are those that fit to their age and body shape. Particularly, with such patients who have real hand, it is important to conform the size and appearance of electrical prosthetic hands to their healthy hands. It is also important to gather the information about individual hands and to apply it for making the electrical prosthetic hands at their requests. The paper investigates a series of our technological developments of prosthetic hands.
{"title":"Development of intelligent prosthetic hand adapted to age and body shape","authors":"Yukio Saito, Atsuo Ogawa, Hiroshi Negoto, K. Ohnishi","doi":"10.1109/ICORR.2005.1501125","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501125","url":null,"abstract":"The most favorable electrical prosthetic hands to our patients both in size and in appearance are those that fit to their age and body shape. Particularly, with such patients who have real hand, it is important to conform the size and appearance of electrical prosthetic hands to their healthy hands. It is also important to gather the information about individual hands and to apply it for making the electrical prosthetic hands at their requests. The paper investigates a series of our technological developments of prosthetic hands.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132168417","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501100
Takahiko Nakamura, K. Saito, Zhidong Wang, K. Kosuge
In this paper, to support antigravity muscles during stance phase more strongly, we propose a new wearable antigravity muscles support system, which supports antigravity muscles around the knee and hip joint. In this system, a posture-based control algorithm for the device without using biological signals is implemented to the wearable antigravity muscles support device. Experimental results show the potential of this proposed system.
{"title":"Realizing a posture-based wearable antigravity muscles support system for lower extremities","authors":"Takahiko Nakamura, K. Saito, Zhidong Wang, K. Kosuge","doi":"10.1109/ICORR.2005.1501100","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501100","url":null,"abstract":"In this paper, to support antigravity muscles during stance phase more strongly, we propose a new wearable antigravity muscles support system, which supports antigravity muscles around the knee and hip joint. In this system, a posture-based control algorithm for the device without using biological signals is implemented to the wearable antigravity muscles support device. Experimental results show the potential of this proposed system.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"136 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114001448","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501103
M. Troncossi, V. Parenti-Castelli, A. Davalli
Due to their restricted mobility, current commercial prosthetic devices for upper limb amputees could be inadequate to satisfactorily rehabilitate patients with the severest injuries, like shoulder-disarticulated patients. The aim of this study is to develop a mechanism which can replicate the function of the missing shoulder joint, increasing the mobility' of the current prosthesis and its overall performance. The mechanical design of the device is highly dependent on the clinical factors of the rehabilitation process: thus an approach which combines both clinical and technical aspects has been used and proposed. This paper summarizes the most significant design steps and describes the most promising solution studied.
{"title":"Mechanical design of a prosthetic shoulder mechanism for upper limb amputees","authors":"M. Troncossi, V. Parenti-Castelli, A. Davalli","doi":"10.1109/ICORR.2005.1501103","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501103","url":null,"abstract":"Due to their restricted mobility, current commercial prosthetic devices for upper limb amputees could be inadequate to satisfactorily rehabilitate patients with the severest injuries, like shoulder-disarticulated patients. The aim of this study is to develop a mechanism which can replicate the function of the missing shoulder joint, increasing the mobility' of the current prosthesis and its overall performance. The mechanical design of the device is highly dependent on the clinical factors of the rehabilitation process: thus an approach which combines both clinical and technical aspects has been used and proposed. This paper summarizes the most significant design steps and describes the most promising solution studied.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122027864","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501046
J. Liu, J. Emken, Steven C. Cramer, D. Reinkensmeyer
Mechanical guidance is a common technique to teach patients desired movement patterns during motor rehabilitation, but little is known about the motor learning processes involved with this technique. In this study we examined how well unimpaired subjects could learn to trace a novel path after they practiced it with mechanical guidance from a robot. The form of haptic guidance used was a virtual channel that constrained the hand to follow the desired path (a snake-like curve). Subjects substantially improved their ability to trace the path following practice with haptic guidance, relative to their performance following an initial visual demonstration. They slowly improved their performance with more haptic training. However, when asked to reproduce the path repeatedly, their performance degraded over the course of a few trials. The tracing errors were not random, but instead were consistent with a systematic evolution toward another path, as if being drawn to an "attractor path". These results suggest that haptic demonstration can improve short-term performance of a novel desired trajectory. However, in the short term, the motor system is inclined to repeat its mistakes following just a few movements without guidance.
{"title":"Learning to perform a novel movement pattern using haptic guidance: slow learning, rapid forgetting, and attractor paths","authors":"J. Liu, J. Emken, Steven C. Cramer, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501046","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501046","url":null,"abstract":"Mechanical guidance is a common technique to teach patients desired movement patterns during motor rehabilitation, but little is known about the motor learning processes involved with this technique. In this study we examined how well unimpaired subjects could learn to trace a novel path after they practiced it with mechanical guidance from a robot. The form of haptic guidance used was a virtual channel that constrained the hand to follow the desired path (a snake-like curve). Subjects substantially improved their ability to trace the path following practice with haptic guidance, relative to their performance following an initial visual demonstration. They slowly improved their performance with more haptic training. However, when asked to reproduce the path repeatedly, their performance degraded over the course of a few trials. The tracing errors were not random, but instead were consistent with a systematic evolution toward another path, as if being drawn to an \"attractor path\". These results suggest that haptic demonstration can improve short-term performance of a novel desired trajectory. However, in the short term, the motor system is inclined to repeat its mistakes following just a few movements without guidance.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"348 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115298819","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501080
A. Kargov, T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer, Rüdiger Dillmann
In this paper the mechanism, design, and control system of a new humanoid-type hand with human-like manipulation abilities is discussed. The hand is designed for the humanoid robot which has to work autonomously or interactively in cooperation with humans. The ideal end effector for such a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore, a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths, and the shape of the palm. The hand can perform most of human grasping types. In this paper, particular attention is dedicated to measurement analysis, technical characteristics, and functionality of the hand prototype. Furthermore, first experience gained from using hand prototypes on a humanoid robot is outlined.
{"title":"Development of an anthropomorphic hand for a mobile assistive robot","authors":"A. Kargov, T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer, Rüdiger Dillmann","doi":"10.1109/ICORR.2005.1501080","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501080","url":null,"abstract":"In this paper the mechanism, design, and control system of a new humanoid-type hand with human-like manipulation abilities is discussed. The hand is designed for the humanoid robot which has to work autonomously or interactively in cooperation with humans. The ideal end effector for such a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore, a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths, and the shape of the palm. The hand can perform most of human grasping types. In this paper, particular attention is dedicated to measurement analysis, technical characteristics, and functionality of the hand prototype. Furthermore, first experience gained from using hand prototypes on a humanoid robot is outlined.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115416633","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501055
H. Schmidt, F. Piorko, R. Bernhardt, J. Krüger, S. Hesse
Perturbations are an important measure to improve gait training and to investigate the learning success of stroke patients during rehabilitation. This paper describes the development and implementation of algorithms for the synthesis of perturbations during gait training on a robotic walking simulator. The perturbation algorithm performs an automatic on-line adaptation of the robot motion override. Hence, it is independent from the type of motion interpolation which the robot motion is based on. Perturbations we have implemented so far include stumbling, i.e. hitting an obstacle during swing phase, and slipping, i.e. sliding on an obstacle during stance phase. An additional catch-up control algorithm ensures that both feet will regain synchronous motion again after the event The algorithms have been implemented in the control software of the HapticWalker, a programmable footplate based human walking simulator for gait rehabilitation, which we have developed. So far a number of healthy subjects have successfully tested the algorithms on the simulator. Clinical trials will follow.
{"title":"Synthesis of perturbations for gait rehabilitation robots","authors":"H. Schmidt, F. Piorko, R. Bernhardt, J. Krüger, S. Hesse","doi":"10.1109/ICORR.2005.1501055","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501055","url":null,"abstract":"Perturbations are an important measure to improve gait training and to investigate the learning success of stroke patients during rehabilitation. This paper describes the development and implementation of algorithms for the synthesis of perturbations during gait training on a robotic walking simulator. The perturbation algorithm performs an automatic on-line adaptation of the robot motion override. Hence, it is independent from the type of motion interpolation which the robot motion is based on. Perturbations we have implemented so far include stumbling, i.e. hitting an obstacle during swing phase, and slipping, i.e. sliding on an obstacle during stance phase. An additional catch-up control algorithm ensures that both feet will regain synchronous motion again after the event The algorithms have been implemented in the control software of the HapticWalker, a programmable footplate based human walking simulator for gait rehabilitation, which we have developed. So far a number of healthy subjects have successfully tested the algorithms on the simulator. Clinical trials will follow.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129565842","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501145
G. Romer, H. Stuyt, G. Kramer, M. O'Callaghan, J. Scheffe
User and usability studies, as well as technical analysis, revealed that some aspects of the gripper (end-effector) of the assistive robotic manipulator (ARM) need improvement. This paper proposes, discusses and presents the results of three redesigns of the gripper.
{"title":"Alternative grippers for the assistive robotic manipulator (ARM)","authors":"G. Romer, H. Stuyt, G. Kramer, M. O'Callaghan, J. Scheffe","doi":"10.1109/ICORR.2005.1501145","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501145","url":null,"abstract":"User and usability studies, as well as technical analysis, revealed that some aspects of the gripper (end-effector) of the assistive robotic manipulator (ARM) need improvement. This paper proposes, discusses and presents the results of three redesigns of the gripper.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130310039","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 : 2005-08-29DOI: 10.1109/ICORR.2005.1501143
David Feil-Seifer, M. Matarić
This paper defines the research area of socially assistive robotics, focusing on assisting people through social interaction. While much attention has been paid to robots that provide assistance to people through physical contact (which we call contact assistive robotics), and to robots that entertain through social interaction (social interactive robotics), so far there is no clear definition of socially assistive robotics. We summarize active social assistive research projects and classify them by target populations, application domains, and interaction methods. While distinguishing these from socially interactive robotics endeavors, we discuss challenges and opportunities that are specific to the growing field of socially assistive robotics.
{"title":"Defining socially assistive robotics","authors":"David Feil-Seifer, M. Matarić","doi":"10.1109/ICORR.2005.1501143","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501143","url":null,"abstract":"This paper defines the research area of socially assistive robotics, focusing on assisting people through social interaction. While much attention has been paid to robots that provide assistance to people through physical contact (which we call contact assistive robotics), and to robots that entertain through social interaction (social interactive robotics), so far there is no clear definition of socially assistive robotics. We summarize active social assistive research projects and classify them by target populations, application domains, and interaction methods. While distinguishing these from socially interactive robotics endeavors, we discuss challenges and opportunities that are specific to the growing field of socially assistive robotics.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"09 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128269042","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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