Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428543
Li-Qun Zhang, Hyung‐Soon Park, Y. Ren
Arm impairments in patients post stroke involve the shoulder, elbow and wrist simultaneously. Patients may develop spasticity and reduced range of motion (ROM) at the multiple joints with abnormal couplings between the multiple joints and between the multiple degrees of freedom (DOF). They may lose independent control of individual joints and coordination among the joints. This project is aimed at developing a whole arm intelligent rehabilitation robot capable of controlling the shoulder, elbow, and wrist individually and simultaneously while allowing trunk motions, with the following integrated features: 1) it has unique diagnostic capabilities to determine which joints and which DOFs have significant changes in the neuromechanical properties, which joints lose independent control, what are the abnormal couplings, and whether the problem is due to changes in passive muscle properties or active control capabilities; 2) based on the diagnosis, it stretches the spastic/deformed joints forcefully under intelligent control to loosen up the specific stiff joints/DOFs; 3) with the stiff joints loosened up, the patients practice voluntary functional movements with assistance from the robot to regain/improve their motor control capability; and 4) the outcome is evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.
{"title":"Developing an Intelligent Robotic Arm for Stroke Rehabilitation","authors":"Li-Qun Zhang, Hyung‐Soon Park, Y. Ren","doi":"10.1109/ICORR.2007.4428543","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428543","url":null,"abstract":"Arm impairments in patients post stroke involve the shoulder, elbow and wrist simultaneously. Patients may develop spasticity and reduced range of motion (ROM) at the multiple joints with abnormal couplings between the multiple joints and between the multiple degrees of freedom (DOF). They may lose independent control of individual joints and coordination among the joints. This project is aimed at developing a whole arm intelligent rehabilitation robot capable of controlling the shoulder, elbow, and wrist individually and simultaneously while allowing trunk motions, with the following integrated features: 1) it has unique diagnostic capabilities to determine which joints and which DOFs have significant changes in the neuromechanical properties, which joints lose independent control, what are the abnormal couplings, and whether the problem is due to changes in passive muscle properties or active control capabilities; 2) based on the diagnosis, it stretches the spastic/deformed joints forcefully under intelligent control to loosen up the specific stiff joints/DOFs; 3) with the stiff joints loosened up, the patients practice voluntary functional movements with assistance from the robot to regain/improve their motor control capability; and 4) the outcome is evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122075791","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.2007.4428435
A. Jackson, P. Culmer, S. Makower, M. Levesley, R. Richardson, A. Cozens, M. Williams, B. Bhakta
iPAM is a dual robotic system currently being developed in the UK under a NHS New and Emerging Applications of Technologies (NEAT) grant. The aim of the system is to provide assistive upper-limb therapeutic excercise for post-stroke rehabilitation. iPAM features two co-ordinated, pneumatically-actuated robotic arms which attach to the patient's forearm and upper-arm to provide assistance, mimicking the intervention of a physiotherapist. The system design and manufacture has been completed and the robot installed at a local hospital (St Mary's, Leeds PCT, UK) inside a community rehabilitation unit. The controller is currently developed and 'tuned' to provide gravity compensation for robots, removing any potentially damaging loads on the patient arm. The control scheme has been tested in simulation and using a mechanical arm model to ensure safe operation. Two small scale trials have been conducted to assess two facets of the robot design; firstly the mechanical design of the system to unimpede normal arm movement and secondly, its ability to provide varying levels of lift to the patient's arm to increase range of movement. The former of these trials compares free arm movement in healthy volunteers and Stroke patients with that when attached to iPAM. The robot was configured to compensate for its own weight, so the human upper-limb was unloaded. It was found that the robot had no significant affect on movement patterns. The second group of patient trials evaluated the operation of various levels of assistance against gravity. Patients were asked to point to a target with varying degrees of 'lift' applied to their upper and lower arm. In those patients with significant upper-limb impairment it was found that higher values of 'lift' improved the extent of reach but altered the movement pattern. Results from the trials demonstrated the suitability of certain modes of operation depending on the severity of patient disability.
{"title":"Initial patient testing of iPAM - a robotic system for Stroke rehabilitation","authors":"A. Jackson, P. Culmer, S. Makower, M. Levesley, R. Richardson, A. Cozens, M. Williams, B. Bhakta","doi":"10.1109/ICORR.2007.4428435","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428435","url":null,"abstract":"iPAM is a dual robotic system currently being developed in the UK under a NHS New and Emerging Applications of Technologies (NEAT) grant. The aim of the system is to provide assistive upper-limb therapeutic excercise for post-stroke rehabilitation. iPAM features two co-ordinated, pneumatically-actuated robotic arms which attach to the patient's forearm and upper-arm to provide assistance, mimicking the intervention of a physiotherapist. The system design and manufacture has been completed and the robot installed at a local hospital (St Mary's, Leeds PCT, UK) inside a community rehabilitation unit. The controller is currently developed and 'tuned' to provide gravity compensation for robots, removing any potentially damaging loads on the patient arm. The control scheme has been tested in simulation and using a mechanical arm model to ensure safe operation. Two small scale trials have been conducted to assess two facets of the robot design; firstly the mechanical design of the system to unimpede normal arm movement and secondly, its ability to provide varying levels of lift to the patient's arm to increase range of movement. The former of these trials compares free arm movement in healthy volunteers and Stroke patients with that when attached to iPAM. The robot was configured to compensate for its own weight, so the human upper-limb was unloaded. It was found that the robot had no significant affect on movement patterns. The second group of patient trials evaluated the operation of various levels of assistance against gravity. Patients were asked to point to a target with varying degrees of 'lift' applied to their upper and lower arm. In those patients with significant upper-limb impairment it was found that higher values of 'lift' improved the extent of reach but altered the movement pattern. Results from the trials demonstrated the suitability of certain modes of operation depending on the severity of patient disability.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129467228","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.2007.4428549
D. Kipke, G. Gage, E. Purcell, J. Seymour, J. Subbaroyan, T. Marzullo
This paper presents a review of our neural interface research program and provides a brief introduction to the field. We focus on three key areas which aim to minimize encapsulating tissue response to chronic neural interfaces: interface architecture, mechanical stresses, and stem cell-seeded probes. We explore these areas and present our current solutions which have led to the demonstration of cortical control of neuromotor prostheses (NMPs).
{"title":"Development of Neural Interfaces for Chronic Use in Neuromotor Prosthetics","authors":"D. Kipke, G. Gage, E. Purcell, J. Seymour, J. Subbaroyan, T. Marzullo","doi":"10.1109/ICORR.2007.4428549","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428549","url":null,"abstract":"This paper presents a review of our neural interface research program and provides a brief introduction to the field. We focus on three key areas which aim to minimize encapsulating tissue response to chronic neural interfaces: interface architecture, mechanical stresses, and stem cell-seeded probes. We explore these areas and present our current solutions which have led to the demonstration of cortical control of neuromotor prostheses (NMPs).","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125489769","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.2007.4428445
A. Rossi, G. Rosati
This paper presents the research activity in the field of rehabilitation robotics of the Robotics & Automation research group leaded by Prof. Aldo Rossi at the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy. Starting from the experience gained in the development of cable driven haptic displays, our research activity was devoted to the development of cable driven robots for upper limb rehabilitation of post stroke patients in the subacute phase. Two prototypes of such machines have been built so far, the NeReBot and the MariBot, which allow to implement robot-assisted passive exercises in a three dimensional working space. These robots use three driven cables to sustain the forearm of the patient and to guide him through the execution of the exercise. In both cases, the cables originate from an overhead structure. The first robot has been successfully tested in clinical environment, and the limitations arisen during clinical trials lead to the design of the second robot, which came up as an evolution of the first one. A third cable driven device is currently being designed. This robot will have a planar working space and will be suited to implement active-assisted exercises, targeting not only sub-acute patients but also chronic patients. Regarding the strategy of our group, a strong effort will be devoted to establish international collaborations with other research groups in the field of rehabilitation robotics. Secondly, in a medium-long term perspective we are attempting to open a new rehabilitation center in Padua specialized in robot-aided rehabilitation. In this way, we aim not only to enlarge the number of patients involved in clinical trials of the machines, but also to reduce the time-to-patient of our devices, which nowadays is quite long.
{"title":"Rehabilitation robotics in Padua, Italy","authors":"A. Rossi, G. Rosati","doi":"10.1109/ICORR.2007.4428445","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428445","url":null,"abstract":"This paper presents the research activity in the field of rehabilitation robotics of the Robotics & Automation research group leaded by Prof. Aldo Rossi at the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy. Starting from the experience gained in the development of cable driven haptic displays, our research activity was devoted to the development of cable driven robots for upper limb rehabilitation of post stroke patients in the subacute phase. Two prototypes of such machines have been built so far, the NeReBot and the MariBot, which allow to implement robot-assisted passive exercises in a three dimensional working space. These robots use three driven cables to sustain the forearm of the patient and to guide him through the execution of the exercise. In both cases, the cables originate from an overhead structure. The first robot has been successfully tested in clinical environment, and the limitations arisen during clinical trials lead to the design of the second robot, which came up as an evolution of the first one. A third cable driven device is currently being designed. This robot will have a planar working space and will be suited to implement active-assisted exercises, targeting not only sub-acute patients but also chronic patients. Regarding the strategy of our group, a strong effort will be devoted to establish international collaborations with other research groups in the field of rehabilitation robotics. Secondly, in a medium-long term perspective we are attempting to open a new rehabilitation center in Padua specialized in robot-aided rehabilitation. In this way, we aim not only to enlarge the number of patients involved in clinical trials of the machines, but also to reduce the time-to-patient of our devices, which nowadays is quite long.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125627223","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.2007.4428556
J. Surentu, G. Tuijthof, J. Herder
Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.
{"title":"Optimized artificial muscles for an inherently safe robotic arm","authors":"J. Surentu, G. Tuijthof, J. Herder","doi":"10.1109/ICORR.2007.4428556","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428556","url":null,"abstract":"Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131523896","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.2007.4428421
D. Petersson, J. Johansson, U. Holmberg, B. Åstrand
A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user's force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.
{"title":"Torque Sensor Free Power Assisted Wheelchair","authors":"D. Petersson, J. Johansson, U. Holmberg, B. Åstrand","doi":"10.1109/ICORR.2007.4428421","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428421","url":null,"abstract":"A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user's force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131698396","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.2007.4428441
S. Au, J. Weber, H. Herr
Although the potential benefits of a powered ankle-foot prosthesis have been well documented, no one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive-elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle-foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee. In this paper, we present a novel, powered ankle-foot prosthesis that overcomes these design challenges. The prosthesis comprises an unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. With this architecture, the ankle-foot prosthesis matches the size and weight of the human ankle, and is shown to be satisfying the restrictive design specifications dictated by normal human ankle walking biomechanics.
{"title":"Biomechanical Design of a Powered Ankle-Foot Prosthesis","authors":"S. Au, J. Weber, H. Herr","doi":"10.1109/ICORR.2007.4428441","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428441","url":null,"abstract":"Although the potential benefits of a powered ankle-foot prosthesis have been well documented, no one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive-elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle-foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee. In this paper, we present a novel, powered ankle-foot prosthesis that overcomes these design challenges. The prosthesis comprises an unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. With this architecture, the ankle-foot prosthesis matches the size and weight of the human ankle, and is shown to be satisfying the restrictive design specifications dictated by normal human ankle walking biomechanics.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127573889","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.2007.4428472
I. Cikajlo, P. Obreza, R. Šavrin, Z. Matjačić
The paper presents a case study where a novel passive therapeutic arm for pelvis support is introduced to the clinical treadmill training of incomplete spinal cord injured (SCI) patients using a functional electrical stimulation (FES) to gain certain locomotor functions. The FES gait reeducation on treadmill applied automatic triggering and intensity control in relation to the swing quality performance. In the case study an incomplete SCI subject (Th-10, chronic) participated. Clinical procedure with classical treadmill training lasted for a week followed by a combined FES and passive therapeutic arm treadmill training. Additionally clinical test, 9 min. and 10 m walk were carried out. The outcomes suggest that simultaneous pelvis control and FES motor augmentation requiring subject's active cooperation may gain the therapeutic effect of the treadmill training.
{"title":"Passive therapeutic arm for pelvis support during FES supported gait treadmill training - a case study","authors":"I. Cikajlo, P. Obreza, R. Šavrin, Z. Matjačić","doi":"10.1109/ICORR.2007.4428472","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428472","url":null,"abstract":"The paper presents a case study where a novel passive therapeutic arm for pelvis support is introduced to the clinical treadmill training of incomplete spinal cord injured (SCI) patients using a functional electrical stimulation (FES) to gain certain locomotor functions. The FES gait reeducation on treadmill applied automatic triggering and intensity control in relation to the swing quality performance. In the case study an incomplete SCI subject (Th-10, chronic) participated. Clinical procedure with classical treadmill training lasted for a week followed by a combined FES and passive therapeutic arm treadmill training. Additionally clinical test, 9 min. and 10 m walk were carried out. The outcomes suggest that simultaneous pelvis control and FES motor augmentation requiring subject's active cooperation may gain the therapeutic effect of the treadmill training.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131007569","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.2007.4428459
L. Lunenburger, M. Wellner, R. Banz, G. Colombo, R. Riener
While robotic rehabilitation devices are gaining popularity in research and clinical use, a possible drawback of these devices is the reduced physical interaction between the therapist and the patient compared to manual training. To compensate for this lack, the device has to assess the patient's movements and provide (bio-)feedback to the patient. Furthermore, it could deliver instructions and increase motivation. The design and implementation of an immersive virtual environment for robot-assisted gait training are described that delivers feedback and increases motivation. Subjects can navigate through exchangeable virtual environments by modulating their performance of the left and right leg. Preliminary tests show usability with control subjects. Clinical tests are still required to show applicability in the clinical routine and to test for therapeutic efficacy.
{"title":"Combining Immersive Virtual Environments with Robot-Aided Gait Training","authors":"L. Lunenburger, M. Wellner, R. Banz, G. Colombo, R. Riener","doi":"10.1109/ICORR.2007.4428459","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428459","url":null,"abstract":"While robotic rehabilitation devices are gaining popularity in research and clinical use, a possible drawback of these devices is the reduced physical interaction between the therapist and the patient compared to manual training. To compensate for this lack, the device has to assess the patient's movements and provide (bio-)feedback to the patient. Furthermore, it could deliver instructions and increase motivation. The design and implementation of an immersive virtual environment for robot-assisted gait training are described that delivers feedback and increases motivation. Subjects can navigate through exchangeable virtual environments by modulating their performance of the left and right leg. Preliminary tests show usability with control subjects. Clinical tests are still required to show applicability in the clinical routine and to test for therapeutic efficacy.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133467526","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.2007.4428523
Gonzalo A. Garcia, F. Zaccone, R. Ruff, S. Micera, Senior Member, Klaus-Peter Hoffmann, Paolo Dario
In the present work we introduce a preliminary study on a new type of dry electrodes to asses their possible use for performing long-term recordings of surface electromyographic signals. These signals would be used for the control of artificial prostheses in a non-invasive manner. In addition, a comparison was carried out between the new dry electrodes and a commercial, pre-gelled electrode. The results showed that both kinds of electrodes have similar impedance values and behavior at different frequencies, which are the main parameters to take into account when characterizing electrodes. For daily use in prosthesis control, dry electrodes are preferred over gelled or pre-gelled electrodes because they can be embedded in fabric and hence be worn seamlessly.
{"title":"Characterization of a New Type of Dry Electrodes for Long-Term Recordings of Surface-Electromyogram","authors":"Gonzalo A. Garcia, F. Zaccone, R. Ruff, S. Micera, Senior Member, Klaus-Peter Hoffmann, Paolo Dario","doi":"10.1109/ICORR.2007.4428523","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428523","url":null,"abstract":"In the present work we introduce a preliminary study on a new type of dry electrodes to asses their possible use for performing long-term recordings of surface electromyographic signals. These signals would be used for the control of artificial prostheses in a non-invasive manner. In addition, a comparison was carried out between the new dry electrodes and a commercial, pre-gelled electrode. The results showed that both kinds of electrodes have similar impedance values and behavior at different frequencies, which are the main parameters to take into account when characterizing electrodes. For daily use in prosthesis control, dry electrodes are preferred over gelled or pre-gelled electrodes because they can be embedded in fabric and hence be worn seamlessly.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114932504","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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