Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428562
S. Agrawal, S. K. Banala, K. Mankala, V. Sangwan, J. Scholz, V. Krishnamoorthy, W. Hsu
Robotics is emerging as a promising tool for training of human functional movement. The current research in this area is focused primarily on upper extremity movements. This paper describes novel designs of three lower extremity exoskeletons, intended for gait assistance and training of motor-impaired patients. The design of each of these exoskeletons is novel and different. Force and position sensors on the exoskeleton provide feedback to the user during training. The exoskeletons have undergone limited tests on healthy and stroke survivors to assess their potential for treadmill walking. GBO is a gravity balancing un-motorized orthosis which can alter the gravity acting at the hip and knee joints during swing. ALEX is an actively driven leg exoskeleton which can modulate the foot trajectory using motors at the joints. SUE is a bilateral swing-assist un-motorized exoskeleton to propel the leg during gait.
{"title":"Exoskeletons for Gait Assistance and Training of the Motor-Impaired","authors":"S. Agrawal, S. K. Banala, K. Mankala, V. Sangwan, J. Scholz, V. Krishnamoorthy, W. Hsu","doi":"10.1109/ICORR.2007.4428562","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428562","url":null,"abstract":"Robotics is emerging as a promising tool for training of human functional movement. The current research in this area is focused primarily on upper extremity movements. This paper describes novel designs of three lower extremity exoskeletons, intended for gait assistance and training of motor-impaired patients. The design of each of these exoskeletons is novel and different. Force and position sensors on the exoskeleton provide feedback to the user during training. The exoskeletons have undergone limited tests on healthy and stroke survivors to assess their potential for treadmill walking. GBO is a gravity balancing un-motorized orthosis which can alter the gravity acting at the hip and knee joints during swing. ALEX is an actively driven leg exoskeleton which can modulate the foot trajectory using motors at the joints. SUE is a bilateral swing-assist un-motorized exoskeleton to propel the leg during gait.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121415660","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428537
D. Nathan, M. Johnson
Reaching to grasp is an essential process in our everyday lives. Individual who suffer a stroke experience major deficits in this ability leading to compromised activities of daily living (ADL), employment, and social interaction. Robotic aided therapy is at the forefront of stroke rehabilitation, however not many systems support functional goal oriented therapy using real world objects. We are interested in designing a grasp assistive component for our ADL-focused robotic therapy environment. This paper reports on the glove development and a static validation study to determine the accuracy and repeatability of the glove in the measurement of joint angles of the thumb and index fingers and grasp aperture, which is the distance between the fingers. Our results showed no significant differences between the glove and a hand-held goniometer for the measured joint angles and the derived grasp aperture. The results suggest that the glove is repeatable and has the potential to measure in vivo grasp aperture during a functional tasks. Our next steps are to complete a dynamic validation study and integrate the glove with our robotic environment.
{"title":"Design of a Grasp Assistive Glove for ADL-focused, Robotic Assisted Therapy after Stroke","authors":"D. Nathan, M. Johnson","doi":"10.1109/ICORR.2007.4428537","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428537","url":null,"abstract":"Reaching to grasp is an essential process in our everyday lives. Individual who suffer a stroke experience major deficits in this ability leading to compromised activities of daily living (ADL), employment, and social interaction. Robotic aided therapy is at the forefront of stroke rehabilitation, however not many systems support functional goal oriented therapy using real world objects. We are interested in designing a grasp assistive component for our ADL-focused robotic therapy environment. This paper reports on the glove development and a static validation study to determine the accuracy and repeatability of the glove in the measurement of joint angles of the thumb and index fingers and grasp aperture, which is the distance between the fingers. Our results showed no significant differences between the glove and a hand-held goniometer for the measured joint angles and the derived grasp aperture. The results suggest that the glove is repeatable and has the potential to measure in vivo grasp aperture during a functional tasks. Our next steps are to complete a dynamic validation study and integrate the glove with our robotic environment.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"520 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116202859","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428501
R. Ekkelenkamp, P. Veltink, S. Stramigioli, H. van der Kooij
Robotic gait trainers are used all over the world for the rehabilitation of stroke patients, despite relatively little is known about how the robots should be controlled to achieve the optimal improvement. Most devices control complete joint trajectories and assume symmetry between both legs by either a position or an impedance control. However we believe that the control should not be on a joint level but on a subtask level (i.e. foot clearance, balance control). To this end we have chosen for virtual model control (VMC) to define a set of controllers that can assist in each of these tasks. Thus enabling the exoskeleton to offer selective support and evaluation of each substask during rehabilitation training. The bottleneck of the VMC performance is the ability to offer an end point impedance at the ankle as the arm between the joints is largest here. This endpoint impedance is evaluated in this paper to show the ability of our exoskeleton to offer the required moments to support all the gait functions defined in this paper. We have shown that it is possible to implement the VMCs necessary for selective support of gait functions using series elastic actuators with a non-linear transmission. For the vertical direction we measured an stiffness of 5 kN/m for all ranges at frequencies of up to 1 Hz as a near ideal spring. In the horizontal we measured op to 0.5 kN/m in the same frequency range. The crosstalk between the vertical and the horizontal directions has been shown to be small. This means that it is possible to selectively offer forces in either vertical or horizontal directions.
{"title":"Evaluation of a Virtual Model Control for the selective support of gait functions using an exoskeleton","authors":"R. Ekkelenkamp, P. Veltink, S. Stramigioli, H. van der Kooij","doi":"10.1109/ICORR.2007.4428501","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428501","url":null,"abstract":"Robotic gait trainers are used all over the world for the rehabilitation of stroke patients, despite relatively little is known about how the robots should be controlled to achieve the optimal improvement. Most devices control complete joint trajectories and assume symmetry between both legs by either a position or an impedance control. However we believe that the control should not be on a joint level but on a subtask level (i.e. foot clearance, balance control). To this end we have chosen for virtual model control (VMC) to define a set of controllers that can assist in each of these tasks. Thus enabling the exoskeleton to offer selective support and evaluation of each substask during rehabilitation training. The bottleneck of the VMC performance is the ability to offer an end point impedance at the ankle as the arm between the joints is largest here. This endpoint impedance is evaluated in this paper to show the ability of our exoskeleton to offer the required moments to support all the gait functions defined in this paper. We have shown that it is possible to implement the VMCs necessary for selective support of gait functions using series elastic actuators with a non-linear transmission. For the vertical direction we measured an stiffness of 5 kN/m for all ranges at frequencies of up to 1 Hz as a near ideal spring. In the horizontal we measured op to 0.5 kN/m in the same frequency range. The crosstalk between the vertical and the horizontal directions has been shown to be small. This means that it is possible to selectively offer forces in either vertical or horizontal directions.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126377756","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428455
C. Freeman, A. Hughes, J. Burridge, P. Chappell, P. Lewin, E. Rogers
A summary of the design and functionality of a robotic workstation that has been constructed for use by stroke patients in order to improve voluntary control of their impaired arm is first given in this paper. The patient's task will be to track an elliptical trajectory using voluntary control with the addition of surface FES applied to muscles in their shoulder and arm. This work then comprises results of a preliminary study to this project in which unimpaired subjects track a series of trajectories using, firstly, only voluntary action, and secondly, using stimulation applied to their triceps muscle only, and with no voluntary control. Results obtained from the study of EMG signals relating to the former case illustrate the activation patterns generated when performing the reaching tasks and confirm the choice of muscles that will be stimulated in the main study. Experimental results from the latter tests are then presented to highlight the performance that can be achieved when using only the application of FES to accomplish the reaching tasks.
{"title":"An Experimental Facility using Functional Electrical Stimulation for Stroke Rehabilitation of the Upper Limb","authors":"C. Freeman, A. Hughes, J. Burridge, P. Chappell, P. Lewin, E. Rogers","doi":"10.1109/ICORR.2007.4428455","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428455","url":null,"abstract":"A summary of the design and functionality of a robotic workstation that has been constructed for use by stroke patients in order to improve voluntary control of their impaired arm is first given in this paper. The patient's task will be to track an elliptical trajectory using voluntary control with the addition of surface FES applied to muscles in their shoulder and arm. This work then comprises results of a preliminary study to this project in which unimpaired subjects track a series of trajectories using, firstly, only voluntary action, and secondly, using stimulation applied to their triceps muscle only, and with no voluntary control. Results obtained from the study of EMG signals relating to the former case illustrate the activation patterns generated when performing the reaching tasks and confirm the choice of muscles that will be stimulated in the main study. Experimental results from the latter tests are then presented to highlight the performance that can be achieved when using only the application of FES to accomplish the reaching tasks.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128057861","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428473
M. Munih, G. Kurillo, M. Veber, J. Perdan, J. Podobnik, U. Mali, J. Cinkelj, M. Mihelj, T. Koritnik, R. Kamnik, T. Bajd
The paper gives insight into main fields of analysis and synthesis of human motion in the recent years or into the works that are still under development. After general introduction half to one page of description is provided for each topics. Simple explanations are omitting theoretical details and rather each use one to two pictures to provide quickly accessible information, which is similar to digest structure. Topics are covering from fingers, hand, arms to the lower extremities, measurement systems to the systems using VR and haptics. In conclusion can be found a look into possible future activities..
{"title":"Analysis and Synthesis of Human and Machine Motion at UL FE","authors":"M. Munih, G. Kurillo, M. Veber, J. Perdan, J. Podobnik, U. Mali, J. Cinkelj, M. Mihelj, T. Koritnik, R. Kamnik, T. Bajd","doi":"10.1109/ICORR.2007.4428473","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428473","url":null,"abstract":"The paper gives insight into main fields of analysis and synthesis of human motion in the recent years or into the works that are still under development. After general introduction half to one page of description is provided for each topics. Simple explanations are omitting theoretical details and rather each use one to two pictures to provide quickly accessible information, which is similar to digest structure. Topics are covering from fingers, hand, arms to the lower extremities, measurement systems to the systems using VR and haptics. In conclusion can be found a look into possible future activities..","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125642446","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428540
T. Sukal, K. Krosschell, J. Dewald
Clinically, the presentation of upper limb movements in children with spastic hemiparetic cerebral palsy is similar to that of adults who have had a stroke. The presence of abnormal synergies following stroke has been described qualitatively in the clinic and quantitatively under static conditions, but this quantitative data is lacking for cerebral palsy. Here, we describe the arm coordination training 3-D (ACT3D) robotic system and how its unique characteristics can provide additional insight into the dynamic expression of these synergies. Implications and clinical applications are briefly discussed.
{"title":"Use of the ACT3D System to Evaluate Synergies in Children with Spastic Hemiparetic Cerebral Palsy: A Pilot Study","authors":"T. Sukal, K. Krosschell, J. Dewald","doi":"10.1109/ICORR.2007.4428540","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428540","url":null,"abstract":"Clinically, the presentation of upper limb movements in children with spastic hemiparetic cerebral palsy is similar to that of adults who have had a stroke. The presence of abnormal synergies following stroke has been described qualitatively in the clinic and quantitatively under static conditions, but this quantitative data is lacking for cerebral palsy. Here, we describe the arm coordination training 3-D (ACT3D) robotic system and how its unique characteristics can provide additional insight into the dynamic expression of these synergies. Implications and clinical applications are briefly discussed.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131200018","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428414
J. Sijs, F. Liefhebber, Gert Willem, R. Romer
The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.
{"title":"Combined Position & Force Control for a robotic manipulator","authors":"J. Sijs, F. Liefhebber, Gert Willem, R. Romer","doi":"10.1109/ICORR.2007.4428414","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428414","url":null,"abstract":"The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the robot, measured using a force-torque sensor. A new control strategy is designed for measured forces and user input. The basic principle of this strategy is derived from the way that humans steer their hand. Sensed forces are followed until they are not present anymore, except when the user wants to do a manipulation in that direction. Therefore a combined position/force controller was designed. All 6 DOF of the robot can be steered by both the user and the force controller at the same time. Beside the design of the control strategy, it is also implemented on the ARM and tested in four test-cases.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131320194","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428399
D. Erol, N. Sarkar
The goal of this work is to develop a control framework to provide robotic assistance for rehabilitation tasks to the subjects in such a manner that the interaction between the subject and the robot is smooth. This is achieved by designing a methodology that automatically adjusts the control gains of the robot controller to modify the interaction dynamics between the robot and the subject. In order to automatically determine the control gains for each subject, an artificial neural network (ANN) based proportional-integral (PI) gain scheduling controller is proposed. The human arm model is integrated within the controller where the ANN uses estimated human arm parameters to select the appropriate PI gains for each subject such that the resultant interaction dynamics between the subject and the robot could result in smooth interaction. Experimental results are presented to demonstrate the efficacy of the proposed ANN-based PI gain scheduling controller on unimpaired subjects.
{"title":"Smooth Human-Robot Interaction in Robot-Assisted Rehabilitation","authors":"D. Erol, N. Sarkar","doi":"10.1109/ICORR.2007.4428399","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428399","url":null,"abstract":"The goal of this work is to develop a control framework to provide robotic assistance for rehabilitation tasks to the subjects in such a manner that the interaction between the subject and the robot is smooth. This is achieved by designing a methodology that automatically adjusts the control gains of the robot controller to modify the interaction dynamics between the robot and the subject. In order to automatically determine the control gains for each subject, an artificial neural network (ANN) based proportional-integral (PI) gain scheduling controller is proposed. The human arm model is integrated within the controller where the ANN uses estimated human arm parameters to select the appropriate PI gains for each subject such that the resultant interaction dynamics between the subject and the robot could result in smooth interaction. Experimental results are presented to demonstrate the efficacy of the proposed ANN-based PI gain scheduling controller on unimpaired subjects.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124491563","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428470
B. Cesqui, V. Monaco, G. Macri, P. Dario, S. Micera
The aim of this study was to investigate whether and how learning process is affected in elderly subjects while they carry out pointing tasks in different force fields generated by a planar robot. In particular, the evolution of movement smoothness during the trials has been used to characterize the learning process. The results indicate that elderly people can deal with novel dynamics showing a predictable aftereffect as young subjects. However, the evolution of the smoothness of their movements was not in accordance with the standard learning process shown by the young group. These results could be partly related to the decay of basic response speed and decision making, all phenomena related to ageing.
{"title":"Adaptation in velocity dependent force fields: a comparison between young and elderly subjects","authors":"B. Cesqui, V. Monaco, G. Macri, P. Dario, S. Micera","doi":"10.1109/ICORR.2007.4428470","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428470","url":null,"abstract":"The aim of this study was to investigate whether and how learning process is affected in elderly subjects while they carry out pointing tasks in different force fields generated by a planar robot. In particular, the evolution of movement smoothness during the trials has been used to characterize the learning process. The results indicate that elderly people can deal with novel dynamics showing a predictable aftereffect as young subjects. However, the evolution of the smoothness of their movements was not in accordance with the standard learning process shown by the young group. These results could be partly related to the decay of basic response speed and decision making, all phenomena related to ageing.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115824151","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428497
Yoonju Cho, Student Member, Kelvin Liang, F. Folowosele, Brian Miller, N. Thakor
For most prosthetic users, the break in sensation between their prosthesis and residual limb greatly limits their interaction with the environment. The sensation of temperature provides useful information for activities of daily living such as material discrimination, extreme temperature avoidance, and psychological comfort. This paper expands upon prior temperature displays in deploying a cosmetic covering that serves as a platform for embedded sensors. In order to utilize the sensors distributed throughout the cosmesis, a wireless sensing system is employed for communication between the sensors and the prosthetic hand. The authors show that users can identify the temperature ranges of the objects they grasp using the prosthetic hand with the sensing cosmesis on. The significance of relative temperatures is also shown as users report lower than actual temperature values due to prior exposure to higher temperature trials. As such, temperature is a valuable component of daily life, and further work towards temperature feedback for prosthetic users is warranted. An example would be the integration of multiple temperature points from sensor arrays embedded within prosthetic coverings so as to map the temperature of objects with greater resolution.
{"title":"Wireless Temperature Sensing Cosmesis for Prosthesis","authors":"Yoonju Cho, Student Member, Kelvin Liang, F. Folowosele, Brian Miller, N. Thakor","doi":"10.1109/ICORR.2007.4428497","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428497","url":null,"abstract":"For most prosthetic users, the break in sensation between their prosthesis and residual limb greatly limits their interaction with the environment. The sensation of temperature provides useful information for activities of daily living such as material discrimination, extreme temperature avoidance, and psychological comfort. This paper expands upon prior temperature displays in deploying a cosmetic covering that serves as a platform for embedded sensors. In order to utilize the sensors distributed throughout the cosmesis, a wireless sensing system is employed for communication between the sensors and the prosthetic hand. The authors show that users can identify the temperature ranges of the objects they grasp using the prosthetic hand with the sensing cosmesis on. The significance of relative temperatures is also shown as users report lower than actual temperature values due to prior exposure to higher temperature trials. As such, temperature is a valuable component of daily life, and further work towards temperature feedback for prosthetic users is warranted. An example would be the integration of multiple temperature points from sensor arrays embedded within prosthetic coverings so as to map the temperature of objects with greater resolution.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121322247","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：