Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501107
Hyung‐Soon Park, Q. Peng, Li-Qun Zhang
A portable tele-assessment system was developed for remote evaluation of the spastic elbow joint of stroke survivors. The causality-based control architectures were introduced for designing the controllers for the tele-assessment system. Based on causality analysis of the tele-assessment tasks, control architectures were designed to guarantee system stability and to provide the clinician with transparent feeling in the presence of small time delay. The proposed method was verified experimentally on the elbow of healthy subjects. The device was made portable and low cost, which makes it potentially more accessible to patients in remote areas.
{"title":"Causality-based portable control system design for tele-assessment of elbow joint spasticity","authors":"Hyung‐Soon Park, Q. Peng, Li-Qun Zhang","doi":"10.1109/ICORR.2005.1501107","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501107","url":null,"abstract":"A portable tele-assessment system was developed for remote evaluation of the spastic elbow joint of stroke survivors. The causality-based control architectures were introduced for designing the controllers for the tele-assessment system. Based on causality analysis of the tele-assessment tasks, control architectures were designed to guarantee system stability and to provide the clinician with transparent feeling in the presence of small time delay. The proposed method was verified experimentally on the elbow of healthy subjects. The device was made portable and low cost, which makes it potentially more accessible to patients in remote areas.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 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":"129692426","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.2005.1501136
C. Scharver, J. Patton, R. Kenyon, E. Kersten
This paper describes targeted reaching experiments conducted using a new augmented reality system. Combining a large-workspace immersive virtual environment with physical force feedback, the system distorted subjects' movements using a viscous curl force field. Following previous experiments using a different robot, half the subjects were constrained to horizontal, planar movements. The remaining subjects performed unconstrained movements throughout the 3D workspace. Examining after-effects as an indication of learning, we found that constrained subjects learned the force field. However, it was difficult to detect whether the unconstrained subjects learned forces of identical magnitude. Our results found that force fields strengths eliciting constrained 2D adaptation have difficulty exhibiting after-effects for unconstrained 3D movements. The increased motor variability for 3D reaching movements requires consideration for future experimental design.
{"title":"Comparing adaptation of constrained and unconstrained movements in three dimensions","authors":"C. Scharver, J. Patton, R. Kenyon, E. Kersten","doi":"10.1109/ICORR.2005.1501136","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501136","url":null,"abstract":"This paper describes targeted reaching experiments conducted using a new augmented reality system. Combining a large-workspace immersive virtual environment with physical force feedback, the system distorted subjects' movements using a viscous curl force field. Following previous experiments using a different robot, half the subjects were constrained to horizontal, planar movements. The remaining subjects performed unconstrained movements throughout the 3D workspace. Examining after-effects as an indication of learning, we found that constrained subjects learned the force field. However, it was difficult to detect whether the unconstrained subjects learned forces of identical magnitude. Our results found that force fields strengths eliciting constrained 2D adaptation have difficulty exhibiting after-effects for unconstrained 3D movements. The increased motor variability for 3D reaching movements requires consideration for future experimental design.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 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":"129758139","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.2005.1501048
M. A. Krutky, E. Perreault
We are investigating whether repetitive training, such as that used during rehabilitation interventions, can induce short term plasticity in the motor pathways controlling the proximal muscles of the human upper-limb. A ballistic, planar whole limb extension training routine has been employed in this study. This study uses transcranial magnetic stimulation (TMS) to quantify user-dependent plasticity in proximal and distal muscles throughout the upper-limb. Previous studies have shown consistent training induced plasticity in distal upper-limb muscles and proximal muscles with altered somatosensory input. This study demonstrates that whole limb motions can generate short term plastic effects in proximal upper-limb muscles, though results have not been consistent.
{"title":"Use dependent plasticity in the corticospinal pathways controlling human arm movement","authors":"M. A. Krutky, E. Perreault","doi":"10.1109/ICORR.2005.1501048","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501048","url":null,"abstract":"We are investigating whether repetitive training, such as that used during rehabilitation interventions, can induce short term plasticity in the motor pathways controlling the proximal muscles of the human upper-limb. A ballistic, planar whole limb extension training routine has been employed in this study. This study uses transcranial magnetic stimulation (TMS) to quantify user-dependent plasticity in proximal and distal muscles throughout the upper-limb. Previous studies have shown consistent training induced plasticity in distal upper-limb muscles and proximal muscles with altered somatosensory input. This study demonstrates that whole limb motions can generate short term plastic effects in proximal upper-limb muscles, though results have not been consistent.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"38 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":"124439118","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.2005.1501102
J. Herder
People with neuromuscular diseases can benefit from devices that assist their motoric capabilities. Different categories can be distinguished for different patient groups, ranging from robotic manipulators to non-powered orthoses. Robotic manipulators can be used by people with virtually no muscle force, whereas non-powered orthoses require at least acceleration and deceleration effort. This paper proposes a hybrid solution, constituting a non-powered orthosis that can be electronically adjusted to varying load. An overview of prototype development would be presented, including the design of linkage, balancer, interface and appearance. A preliminary evaluation with users is also provided.
{"title":"Development of a statically balanced arm support: ARMON","authors":"J. Herder","doi":"10.1109/ICORR.2005.1501102","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501102","url":null,"abstract":"People with neuromuscular diseases can benefit from devices that assist their motoric capabilities. Different categories can be distinguished for different patient groups, ranging from robotic manipulators to non-powered orthoses. Robotic manipulators can be used by people with virtually no muscle force, whereas non-powered orthoses require at least acceleration and deceleration effort. This paper proposes a hybrid solution, constituting a non-powered orthosis that can be electronically adjusted to varying load. An overview of prototype development would be presented, including the design of linkage, balancer, interface and appearance. A preliminary evaluation with users is also provided.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"86 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":"126543388","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.2005.1501040
S. Charles, H. I. Krebs, B. Volpe, D. Lynch, N. Hogan
In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in these joints. The greater reduction in impairment was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. The focus here is a robot for wrist rehabilitation designed to provide three rotational degrees of freedom. A previous paper at ICORR2003 and its companion book described the basic system design and characterization. In this paper we present clinical results from five (5) stroke patients. A comprehensive review of the wrist robot design, characterization, and initial clinical results are being submitted elsewhere (EEEE Transactions on Neural Systems and Rehabilitation Engineering).
1991年，一种名为MIT-MANUS的新型机器人被引入作为测试平台，研究使用机器人辅助和量化运动功能的神经康复的潜力。它引入了一种新的治疗品牌，为用户提供了一种柔软稳定的高度反向驱动机制。MIT-MANUS被证明非常适合中风患者的肩部和肘部康复，在临床试验中显示出这些关节损伤的减少。在肌肉锻炼组中观察到损伤的减少更大。这表明需要更多的机器人来修复身体的其他目标区域。这里的重点是一个用于手腕康复的机器人，设计提供三个旋转自由度。ICORR2003上的一篇论文及其配套书籍描述了基本的系统设计和特性。在本文中，我们报告了5例脑卒中患者的临床结果。腕式机器人的设计、表征和初步临床结果的综合综述正在其他地方提交(EEEE Transactions on Neural Systems and Rehabilitation Engineering)。
{"title":"Wrist rehabilitation following stroke: initial clinical results","authors":"S. Charles, H. I. Krebs, B. Volpe, D. Lynch, N. Hogan","doi":"10.1109/ICORR.2005.1501040","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501040","url":null,"abstract":"In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in these joints. The greater reduction in impairment was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. The focus here is a robot for wrist rehabilitation designed to provide three rotational degrees of freedom. A previous paper at ICORR2003 and its companion book described the basic system design and characterization. In this paper we present clinical results from five (5) stroke patients. A comprehensive review of the wrist robot design, characterization, and initial clinical results are being submitted elsewhere (EEEE Transactions on Neural Systems and Rehabilitation Engineering).","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"15 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120986498","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.2005.1501121
J. Tang, C. Carignan, S. Gattewar
Haptic and visual displays are combined to realize cooperative, force-feedback tasks over the Internet. The operators "exert" forces on a virtual object which in turn generates a set of reaction forces to be displayed on the haptic devices. A novel cooperative control architecture based on wave variables is implemented to realize stable operation in the presence of time delays. The control scheme is validated experimentally for a manipulation task over the Internet using a pair of InMotion2 robots. Preliminary results are also presented for 3D tasks rendered on a head-mounted display equipped with a head tracker for changing viewing angles.
{"title":"Virtual environment for robotic tele-rehabilitation","authors":"J. Tang, C. Carignan, S. Gattewar","doi":"10.1109/ICORR.2005.1501121","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501121","url":null,"abstract":"Haptic and visual displays are combined to realize cooperative, force-feedback tasks over the Internet. The operators \"exert\" forces on a virtual object which in turn generates a set of reaction forces to be displayed on the haptic devices. A novel cooperative control architecture based on wave variables is implemented to realize stable operation in the presence of time delays. The control scheme is validated experimentally for a manipulation task over the Internet using a pair of InMotion2 robots. Preliminary results are also presented for 3D tasks rendered on a head-mounted display equipped with a head tracker for changing viewing angles.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"5 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":"116874108","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.2005.1501047
A. Agrawal, S. K. Banala, S. Agrawal, S. Binder-Macleod
An ankle-foot orthosis (AFO) is commonly used to help subjects with weakness of ankle dorsiflexor muscles due to peripheral or central nervous system disorders. Both these disorders are due to the weakness of the tibialis anterior muscle which results in lack of dorsiflexion assist moment. The deformity and muscle weakness of one joint in the lower extremity influences the stability of the adjacent joints, thereby requiring compensatory adaptations. We present an innovative ankle-foot orthosis (AFO) that was designed to allow two degree-of-freedom motion while serving to maintain proper foot position for subjects. The prototype AFO would introduce greater functionality over currently marketed devices by means of its inversion-eversion degree-of-freedom in addition to flexion/extension. The flexion/extension is controlled with the help of an actuator and inversion/eversion with a spring and a damper.
{"title":"Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation","authors":"A. Agrawal, S. K. Banala, S. Agrawal, S. Binder-Macleod","doi":"10.1109/ICORR.2005.1501047","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501047","url":null,"abstract":"An ankle-foot orthosis (AFO) is commonly used to help subjects with weakness of ankle dorsiflexor muscles due to peripheral or central nervous system disorders. Both these disorders are due to the weakness of the tibialis anterior muscle which results in lack of dorsiflexion assist moment. The deformity and muscle weakness of one joint in the lower extremity influences the stability of the adjacent joints, thereby requiring compensatory adaptations. We present an innovative ankle-foot orthosis (AFO) that was designed to allow two degree-of-freedom motion while serving to maintain proper foot position for subjects. The prototype AFO would introduce greater functionality over currently marketed devices by means of its inversion-eversion degree-of-freedom in addition to flexion/extension. The flexion/extension is controlled with the help of an actuator and inversion/eversion with a spring and a damper.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"57 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":"132431587","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.2005.1501045
V. Ravichandran, E. Perreault
The strategy the central nervous system utilizes to produce movements in the face of multiple degrees of freedom available has been a subject of study for the past few years. Of the possible mechanisms, the muscle synergies-stereotypical coordinated patterns of muscle activity elicited by dedicated networks have been suggested to be the building blocks. Based on this hypothesis, several algorithms have been proposed to discern these synergies from the recorded electromyographic signals (EMG). In the proposed model, the synergies are treated as filters (IRFs) that take as input any arbitrary non-negative signal. That is, the EMG is seen as a convolution mixture of synergies and corresponding inputs.
{"title":"Estimation of muscle synergies in the presence of arbitrary inputs","authors":"V. Ravichandran, E. Perreault","doi":"10.1109/ICORR.2005.1501045","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501045","url":null,"abstract":"The strategy the central nervous system utilizes to produce movements in the face of multiple degrees of freedom available has been a subject of study for the past few years. Of the possible mechanisms, the muscle synergies-stereotypical coordinated patterns of muscle activity elicited by dedicated networks have been suggested to be the building blocks. Based on this hypothesis, several algorithms have been proposed to discern these synergies from the recorded electromyographic signals (EMG). In the proposed model, the synergies are treated as filters (IRFs) that take as input any arbitrary non-negative signal. That is, the EMG is seen as a convolution mixture of synergies and corresponding inputs.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"45 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":"132451517","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.2005.1501159
Michael Bernhardt, M. Frey, G. Colombo, R. Riener
The rehabilitation robot LOKOMAT has been developed at the Spinal Cord Injury Center of the University Hospital Balgrist, Zurich. It allows automated treadmill training for patients with mobility impairment of the lower limbs. Former position control strategies did not allow voluntary active movements of the patient. This paper presents a new cooperative control architecture for the LOKOMAT that enforces active force contribution of the patient. Based on a dynamic model of the human gait, the patient is supported by an arbitrary percentage of the force required to walk. Online gait event detectors have been developed and implemented since the controller mode changes depending on the gait phase. The new control strategy is highly patient-driven and enables the patient to accomplish free walking movements. Thus, it is expected, that the motivation of the patient can be maximized and the rehabilitation progress accelerated.
{"title":"Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT","authors":"Michael Bernhardt, M. Frey, G. Colombo, R. Riener","doi":"10.1109/ICORR.2005.1501159","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501159","url":null,"abstract":"The rehabilitation robot LOKOMAT has been developed at the Spinal Cord Injury Center of the University Hospital Balgrist, Zurich. It allows automated treadmill training for patients with mobility impairment of the lower limbs. Former position control strategies did not allow voluntary active movements of the patient. This paper presents a new cooperative control architecture for the LOKOMAT that enforces active force contribution of the patient. Based on a dynamic model of the human gait, the patient is supported by an arbitrary percentage of the force required to walk. Online gait event detectors have been developed and implemented since the controller mode changes depending on the gait phase. The new control strategy is highly patient-driven and enables the patient to accomplish free walking movements. Thus, it is expected, that the motivation of the patient can be maximized and the rehabilitation progress accelerated.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"43 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":"132051539","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.2005.1501057
E. Goto, K. Ohnishi, H. Miyagawa, Y. Saito
This paper reports on a field test of our simple force-sensor-based rehabilitation device that can be handled at homes or neighboring medical institutions. We propose a tri-axial load cell controller system for quantitatively evaluating the visually guided motor control characteristic of a weak palsy arm. The result is recorded in the database while evaluation is presented for each trial. The system is tested at an orthopedic clinic with outpatients: cervical spinal cord injured patient and 2 other cases. Their mid-term testing results are discussed.
{"title":"Field test of a force control rehabilitation system for quantitative evaluation of the disorder in the upper extremities","authors":"E. Goto, K. Ohnishi, H. Miyagawa, Y. Saito","doi":"10.1109/ICORR.2005.1501057","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501057","url":null,"abstract":"This paper reports on a field test of our simple force-sensor-based rehabilitation device that can be handled at homes or neighboring medical institutions. We propose a tri-axial load cell controller system for quantitatively evaluating the visually guided motor control characteristic of a weak palsy arm. The result is recorded in the database while evaluation is presented for each trial. The system is tested at an orthopedic clinic with outpatients: cervical spinal cord injured patient and 2 other cases. Their mid-term testing results are discussed.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2016 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":"128037534","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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