Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428560
A. Huntemann, P. Mayer, G. Gelderblom, A. Pisetta, G. Kronreif, P. Einramhof, M. Nuttin
Although powered wheelchairs provide a well established solution for mobility impaired persons they do not cover all needs regarding mobility of people with impairments In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a "low-cost" sensor system as well as adaptable HMI components. Throughout the project potential users were involved and user needs were addressed providing a important contribution to the design process. This paper describes the user involvement and its influence on the system.
{"title":"MOVEMENT use in progress","authors":"A. Huntemann, P. Mayer, G. Gelderblom, A. Pisetta, G. Kronreif, P. Einramhof, M. Nuttin","doi":"10.1109/ICORR.2007.4428560","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428560","url":null,"abstract":"Although powered wheelchairs provide a well established solution for mobility impaired persons they do not cover all needs regarding mobility of people with impairments In the course of the EC funded research project MOVEMENT a novel approach for a highly adaptable and modular mobility enhancement system is targeted to cover additional user needs. A system consisting of a robotic platform and several dockable application modules is developed that additionally provides assistance for the driving process itself to the user or even takes over the complete driving autonomously. The project also includes development of new solutions for navigation of mobile robot systems including a \"low-cost\" sensor system as well as adaptable HMI components. Throughout the project potential users were involved and user needs were addressed providing a important contribution to the design process. This paper describes the user involvement and its influence on the system.","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":"121936666","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.2007.4428510
Rui C. V. Loureiro, W. Harwin
This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.
{"title":"Reach & Grasp Therapy: Design and Control of a 9-DOF Robotic Neuro-rehabilitation System","authors":"Rui C. V. Loureiro, W. Harwin","doi":"10.1109/ICORR.2007.4428510","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428510","url":null,"abstract":"This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.","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":"116993308","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.2007.4428418
D. Chugo, W. Mastuoka, S. Jia, K. Takase, H. Asama
This paper proposes a walker system with power assistance device for standing up motion. Our system focuses on family use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by computer simulations and experiments using our prototype.
{"title":"Rehabilitation walker with standing assistance","authors":"D. Chugo, W. Mastuoka, S. Jia, K. Takase, H. Asama","doi":"10.1109/ICORR.2007.4428418","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428418","url":null,"abstract":"This paper proposes a walker system with power assistance device for standing up motion. Our system focuses on family use for aged person who needs nursing in their daily life. Our key ideas are two topics. The first topic is new assistance manipulator mechanism with four parallel linkages. Our proposed manipulator mechanism requires only smaller actuators and realizes rigid structure with lighter linkages comparing with general manipulator. Thus, we can design our assistance system compactly with low-cost using our mechanism. The second topic is the combination of force and position control. According to the patient's posture during standing up, our control system selects more appropriate control method from them. We use the reference of standing-up motion which is based on the typical standing up motion by nursing specialist for realizing the natural assistance. The performance of our proposed assistance system is verified by computer simulations and experiments using our prototype.","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":"125783415","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.2007.4428423
M. Trabelsi, N. Ait-Oufroukh, S. Lelandais
This paper presents a new robot localization method in an indoor environment and enters in the development of an assistance robot for disabled people called the ARPH project. The robot developed is composed of two principal parts: a mobile base for displacement and an embedded MANUS arm to handle objects. Each part is equipped with two kinds of sensors: a camera to have the environment structure and the object parameters and an ultrasonic system to recognize environment and object. Our approach to robot localization is based on combination of these two sensors information and uses a 3D/2D matching between environment model and image attributes. The aim is to compute the robot position and orientation in the navigation workspace in a fast way and with a good accuracy, to give to the mobile robot ability to realise different tasks like navigation, tracking and grabbing objects.
{"title":"Localization Method for a Rehabilitation Mobile Robot using Visual and Ultrasonic Information","authors":"M. Trabelsi, N. Ait-Oufroukh, S. Lelandais","doi":"10.1109/ICORR.2007.4428423","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428423","url":null,"abstract":"This paper presents a new robot localization method in an indoor environment and enters in the development of an assistance robot for disabled people called the ARPH project. The robot developed is composed of two principal parts: a mobile base for displacement and an embedded MANUS arm to handle objects. Each part is equipped with two kinds of sensors: a camera to have the environment structure and the object parameters and an ultrasonic system to recognize environment and object. Our approach to robot localization is based on combination of these two sensors information and uses a 3D/2D matching between environment model and image attributes. The aim is to compute the robot position and orientation in the navigation workspace in a fast way and with a good accuracy, to give to the mobile robot ability to realise different tasks like navigation, tracking and grabbing objects.","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":"124806485","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.2007.4428506
F. Amirabdollahian, W. Harwin, R. Loureiro
Robot-mediated therapies offer a new approach to neurorehabilitation. This paper analyses the Fugl-Meyer data from the Gentle/S project and finds that the two intervention phases (sling suspension and robot mediated therapy) have approximately equal value to the further recovery of chronic stroke subjects (on average 27 months post stroke). Both sling suspension and robot mediated interventions show a recovery over baseline and further work is needed to establish the common factors in treatment, and to establish intervention protocols for each that will give individual subjects a maximum level of recovery.
{"title":"Analysis of the Fugl-Meyer Outcome Measures Assessing the Effectiveness of Robot-Mediated Stroke Therapy","authors":"F. Amirabdollahian, W. Harwin, R. Loureiro","doi":"10.1109/ICORR.2007.4428506","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428506","url":null,"abstract":"Robot-mediated therapies offer a new approach to neurorehabilitation. This paper analyses the Fugl-Meyer data from the Gentle/S project and finds that the two intervention phases (sling suspension and robot mediated therapy) have approximately equal value to the further recovery of chronic stroke subjects (on average 27 months post stroke). Both sling suspension and robot mediated interventions show a recovery over baseline and further work is needed to establish the common factors in treatment, and to establish intervention protocols for each that will give individual subjects a maximum level of recovery.","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":"129889714","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.2007.4428514
H. A. Varol, M. Goldfarb
This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. Rather than utilize "echo control" as proposed by others, the proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.
{"title":"Decomposition-Based Control for a Powered Knee and Ankle Transfemoral Prosthesis","authors":"H. A. Varol, M. Goldfarb","doi":"10.1109/ICORR.2007.4428514","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428514","url":null,"abstract":"This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. Rather than utilize \"echo control\" as proposed by others, the proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.","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":"127248805","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.2007.4428535
J. Sulzer, M. Peshkin, J. Patton
Chronic stroke survivors lack sufficient outpatient therapy, despite indications that more therapy at the chronic stage can restore some function. Both insurance and physical constraints on therapists prevent training in the home, most likely where this activity would take place. Nevertheless, this gap reveals a promising application for robots, low-cost home care. A robot designed for home use needs to be inexpensive, portable and safe. Earlier, we have explored a type of compliant variable transmission known as the MARIONET (Moment arm Adjustment for Remote Induction Of Net Effective Torque). The proof-of-concept, behaving similar to a rotary Series Elastic Actuator, has been found suitable for low-cost, light weight applications. This paper discusses further analysis of the single-joint MARIONET and proposes the design for the new planar, upper extremity two-joint manipulandum for clinical and home use.
{"title":"Design of a Mobile, Inexpensive Device for Upper Extremity Rehabilitation at Home","authors":"J. Sulzer, M. Peshkin, J. Patton","doi":"10.1109/ICORR.2007.4428535","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428535","url":null,"abstract":"Chronic stroke survivors lack sufficient outpatient therapy, despite indications that more therapy at the chronic stage can restore some function. Both insurance and physical constraints on therapists prevent training in the home, most likely where this activity would take place. Nevertheless, this gap reveals a promising application for robots, low-cost home care. A robot designed for home use needs to be inexpensive, portable and safe. Earlier, we have explored a type of compliant variable transmission known as the MARIONET (Moment arm Adjustment for Remote Induction Of Net Effective Torque). The proof-of-concept, behaving similar to a rotary Series Elastic Actuator, has been found suitable for low-cost, light weight applications. This paper discusses further analysis of the single-joint MARIONET and proposes the design for the new planar, upper extremity two-joint manipulandum for clinical and home use.","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":"132151917","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.2007.4428425
C. Carignan, J. Tang, S. Roderick, M. Naylor
A modular approach is proposed for controlling a robotic arm exoskeleton used for shoulder rehabilitation. The joints are partitioned into anthropomorphic sets based on the exercise protocol which are then commanded using separate control modules. The controllers run concurrently and can operate in either impedance or admittance mode. The approach is applied to the MGA exoskeleton, and some preliminary experimental results are given for both iso-lateral and functional training exercises.
{"title":"A Configuration-Space Approach to Controlling a Rehabilitation Arm Exoskeleton","authors":"C. Carignan, J. Tang, S. Roderick, M. Naylor","doi":"10.1109/ICORR.2007.4428425","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428425","url":null,"abstract":"A modular approach is proposed for controlling a robotic arm exoskeleton used for shoulder rehabilitation. The joints are partitioned into anthropomorphic sets based on the exercise protocol which are then commanded using separate control modules. The controllers run concurrently and can operate in either impedance or admittance mode. The approach is applied to the MGA exoskeleton, and some preliminary experimental results are given for both iso-lateral and functional training exercises.","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":"130254762","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.2007.4428490
C. Meskers, E. de Vlugt, J. D. De Groot, W. Wisman, J. Arendzen, F. V. D. van der Helm
Clonus is a self sustained oscillatory movement of the extremities often seen after lesions of the central nervous system. There is still controversy about the origin of clonus whether it is i) an autonomous pacemaker-like oscillator, ii) a reflexive mediated feedback property or iii) a combination of both. With the use of a haptic robot we were able to initiate clonus in patients (n=7). We would conclude the underlying mechanism to be autonomous when the frequency of movement would not change with additional external damping and inertia. Results however showed distinct changes in frequency of movement, varying the peripheral conditions. Furthermore, when the clonus was suddenly stopped by a controlled increase of a huge external damper, clear bursting was observed in the triceps EMG while there was no rotation of the ankle. In conclusion, i) clonus is initiated by spinal reflexes (probably la or lb afferents), ii) also during clonus the same spinal reflexes are likely to contribute to the maintenance of ankle rotation and iii) the after bursting directs to self sustained firing of neural circuitry. These conclusions implicate the existence of a reflexive controlled oscillator. Future research will be performed using detailed model simulations to test different gains between reflexive feedback and neural oscillations, e.g. from the alpha - motorneurons.
{"title":"Determination of pathological clonus characteristics using a haptic ankle manipulator","authors":"C. Meskers, E. de Vlugt, J. D. De Groot, W. Wisman, J. Arendzen, F. V. D. van der Helm","doi":"10.1109/ICORR.2007.4428490","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428490","url":null,"abstract":"Clonus is a self sustained oscillatory movement of the extremities often seen after lesions of the central nervous system. There is still controversy about the origin of clonus whether it is i) an autonomous pacemaker-like oscillator, ii) a reflexive mediated feedback property or iii) a combination of both. With the use of a haptic robot we were able to initiate clonus in patients (n=7). We would conclude the underlying mechanism to be autonomous when the frequency of movement would not change with additional external damping and inertia. Results however showed distinct changes in frequency of movement, varying the peripheral conditions. Furthermore, when the clonus was suddenly stopped by a controlled increase of a huge external damper, clear bursting was observed in the triceps EMG while there was no rotation of the ankle. In conclusion, i) clonus is initiated by spinal reflexes (probably la or lb afferents), ii) also during clonus the same spinal reflexes are likely to contribute to the maintenance of ankle rotation and iii) the after bursting directs to self sustained firing of neural circuitry. These conclusions implicate the existence of a reflexive controlled oscillator. Future research will be performed using detailed model simulations to test different gains between reflexive feedback and neural oscillations, e.g. from the alpha - motorneurons.","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":"125592722","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.2007.4428443
M. Hariz, S. Renouard, M. Mokhtari
In this paper, we present our approach for designing interaction with complex assistive devices such as a robotic arm. We combine a previous work on controlling the Manus arm through a PDA and a novel framework that can extend interaction capabilities. The whole system gives the possibility of configuring both graphical and physical user interfaces, by making interaction more generic and open to any assistive environment.
{"title":"Designing multimodal interaction for assistive robotic arm","authors":"M. Hariz, S. Renouard, M. Mokhtari","doi":"10.1109/ICORR.2007.4428443","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428443","url":null,"abstract":"In this paper, we present our approach for designing interaction with complex assistive devices such as a robotic arm. We combine a previous work on controlling the Manus arm through a PDA and a novel framework that can extend interaction capabilities. The whole system gives the possibility of configuring both graphical and physical user interfaces, by making interaction more generic and open to any assistive environment.","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":"116206414","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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