Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428436
J. Rett, J. Dias
In this work we contribute to the field of human-machine interaction with a system that anticipates human movements using the concept of Laban Movement Analysis (LMA). The implementation uses a Bayesian model for learning and classification and results are presented for the application to online gesture recognition. The merging of assistive robotics and socially interactive robotics has recently led to the definition of socially assistive robotics. What is necessary and we found still missing are socially interactive robots with a higher level cognitive system which analyzes deeply the observed human movement. In this article we provide a framework for cognitive processes to be implemented in human-machine-interfaces based on nowadays technologies. We present LMA as a concept that helps to identify useful low-level features, defines a framework of mid-level descriptors for movement-properties and helps to develop a classifier of expressive actions. Our interface anticipates a performed action observed from a stream of monocular camera images by using a Bayesian framework. With this work we define the required qualities and characteristics of future embodied agents in terms of social interaction with humans. This article searches for human qualities like anticipation and empathy and presents possible ways towards implementation in the cognitive system of a social robot. We present results through its embodiment in the social robot 'Nicole' in the context of a person performing gestures and 'Nicole' reacting by means of audio output and robot movement.
{"title":"Human-robot interface with anticipatory characteristics based on Laban Movement Analysis and Bayesian models","authors":"J. Rett, J. Dias","doi":"10.1109/ICORR.2007.4428436","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428436","url":null,"abstract":"In this work we contribute to the field of human-machine interaction with a system that anticipates human movements using the concept of Laban Movement Analysis (LMA). The implementation uses a Bayesian model for learning and classification and results are presented for the application to online gesture recognition. The merging of assistive robotics and socially interactive robotics has recently led to the definition of socially assistive robotics. What is necessary and we found still missing are socially interactive robots with a higher level cognitive system which analyzes deeply the observed human movement. In this article we provide a framework for cognitive processes to be implemented in human-machine-interfaces based on nowadays technologies. We present LMA as a concept that helps to identify useful low-level features, defines a framework of mid-level descriptors for movement-properties and helps to develop a classifier of expressive actions. Our interface anticipates a performed action observed from a stream of monocular camera images by using a Bayesian framework. With this work we define the required qualities and characteristics of future embodied agents in terms of social interaction with humans. This article searches for human qualities like anticipation and empathy and presents possible ways towards implementation in the cognitive system of a social robot. We present results through its embodiment in the social robot 'Nicole' in the context of a person performing gestures and 'Nicole' reacting by means of audio output and robot movement.","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":"121415089","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.2007.4428494
H. Yu, P. Nava, R. Brower, M. Ceberio, T. Sarkodie-Gyan
The restoration of healthy locomotion (gait) after stroke, traumatic brain injury, and spinal cord injury, is a major task in neurological rehabilitation. The rehabilitation process is labor intensive. Patient evaluation is often subjective, foiling determination of precise rehabilitation goals and assessment of treatment effects. To date it is the experienced clinician who continues to perform functional gait assessment and training in the absence of virtually any technological assistance. This paper introduces an algorithm capable of identifying human gait patterns. The fuzzy inferential reasoning uses typical joint angle trajectories to identify varying gait patterns. The algorithm will, thus, offer doctors, therapists, and patients a significant tool to assess the efficacy and outcomes of medical rehabilitation therapies and practices.
{"title":"Identification of Human Gait using Fuzzy Inferential Reasoning","authors":"H. Yu, P. Nava, R. Brower, M. Ceberio, T. Sarkodie-Gyan","doi":"10.1109/ICORR.2007.4428494","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428494","url":null,"abstract":"The restoration of healthy locomotion (gait) after stroke, traumatic brain injury, and spinal cord injury, is a major task in neurological rehabilitation. The rehabilitation process is labor intensive. Patient evaluation is often subjective, foiling determination of precise rehabilitation goals and assessment of treatment effects. To date it is the experienced clinician who continues to perform functional gait assessment and training in the absence of virtually any technological assistance. This paper introduces an algorithm capable of identifying human gait patterns. The fuzzy inferential reasoning uses typical joint angle trajectories to identify varying gait patterns. The algorithm will, thus, offer doctors, therapists, and patients a significant tool to assess the efficacy and outcomes of medical rehabilitation therapies and practices.","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":"129217987","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.2007.4428538
M. Bailey, A. Chanler, B. Maxwell, M. Micire, K. Tsui, H. Yanco
Our environment is replete with visual cues intended to guide human navigation. For example, there are building directories at entrances and room numbers next to doors. By developing a robot wheelchair system that can interpret these cues, we will create a more robust and more usable system. This paper describes the design and development of our robot wheelchair system, called Wheeley, and its vision-based navigation system. The robot wheelchair system uses stereo vision to build maps of the environment through which it travels; this map can then be annotated with information gleaned from signs. We also describe the planned integration of an assistive robot arm to help with pushing elevator buttons and opening door handles.
{"title":"Development of Vision-Based Navigation for a Robotic Wheelchair","authors":"M. Bailey, A. Chanler, B. Maxwell, M. Micire, K. Tsui, H. Yanco","doi":"10.1109/ICORR.2007.4428538","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428538","url":null,"abstract":"Our environment is replete with visual cues intended to guide human navigation. For example, there are building directories at entrances and room numbers next to doors. By developing a robot wheelchair system that can interpret these cues, we will create a more robust and more usable system. This paper describes the design and development of our robot wheelchair system, called Wheeley, and its vision-based navigation system. The robot wheelchair system uses stereo vision to build maps of the environment through which it travels; this map can then be annotated with information gleaned from signs. We also describe the planned integration of an assistive robot arm to help with pushing elevator buttons and opening door handles.","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":"116885137","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.2007.4428544
A. Helal, B. Abdulrazak
This paper discusses a new concept of Scalable Home-Care Delivery for frail People with Special Needs (PwSN1), which we named TeCaRob2. This concept explores the use of robotics inside Smart House to remotely assist frail elders and other PwSN in diverse tasks of daily living. The goal is to provide PwSN with a complete solution for their daily needs. Our objective is to enhance the existing Smart House concept, which have proven successful in supporting PwSN, and which have been challenged when PwSN occupants need physical assistance.
{"title":"Toward a Scalable Home-Care Delivery for Frail Elders and People with Special Needs","authors":"A. Helal, B. Abdulrazak","doi":"10.1109/ICORR.2007.4428544","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428544","url":null,"abstract":"This paper discusses a new concept of Scalable Home-Care Delivery for frail People with Special Needs (PwSN1), which we named TeCaRob2. This concept explores the use of robotics inside Smart House to remotely assist frail elders and other PwSN in diverse tasks of daily living. The goal is to provide PwSN with a complete solution for their daily needs. Our objective is to enhance the existing Smart House concept, which have proven successful in supporting PwSN, and which have been challenged when PwSN occupants need physical assistance.","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":"125383866","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.2007.4428434
R. Song, K. Tong, X. Hu, X.J. Zheng
This study described the operation of the myoelectrically controlled robotic system designed to assist wrist movement in a horizontal plane for patients after stroke. Electromyographic (EMG) signals from flexor carpi radialis (FCR), extensor carpi radialis (ECR) detecting subject's intention are used to control the mechanical assistance from the robotic system either to assist wrist flexion and wrist extension. This study had recruited five subjects after stroke. The results revealed that the range of motion (ROM) in the five subjects increased with the assistance of the myoelectrically controlled robotic system. The amplitude of agonist EMG signal decreased with the increase of assistance, which might reflect less effort was needed for the subject to perform the movement. This study demonstrates that it is feasible to apply myoelectrically controlled robotic system to provide substantial external torque to the affected wrist joint for subjects after stroke. Its therapeutic effect will be further investigated during stroke rehabilitation.
{"title":"Myoelectrically Controlled Robotic System That Provide Voluntary Mechanical Help for Persons after Stroke","authors":"R. Song, K. Tong, X. Hu, X.J. Zheng","doi":"10.1109/ICORR.2007.4428434","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428434","url":null,"abstract":"This study described the operation of the myoelectrically controlled robotic system designed to assist wrist movement in a horizontal plane for patients after stroke. Electromyographic (EMG) signals from flexor carpi radialis (FCR), extensor carpi radialis (ECR) detecting subject's intention are used to control the mechanical assistance from the robotic system either to assist wrist flexion and wrist extension. This study had recruited five subjects after stroke. The results revealed that the range of motion (ROM) in the five subjects increased with the assistance of the myoelectrically controlled robotic system. The amplitude of agonist EMG signal decreased with the increase of assistance, which might reflect less effort was needed for the subject to perform the movement. This study demonstrates that it is feasible to apply myoelectrically controlled robotic system to provide substantial external torque to the affected wrist joint for subjects after stroke. Its therapeutic effect will be further investigated during stroke rehabilitation.","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":"125622904","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.2007.4428539
S. Adamovich, Q. Qiu, Binny Talati, G. Fluet, A. Merians
We have previously designed a virtual reality-based training system for hand rehabilitation. Here we report the design of an extended version of the system that allows training of the hemiparetic arm and hand during one training session, and provides haptic assistance during hand motion and during arm movements in three-dimensional space. It also allows bimanual training of the hand and arm. Hand training was based on a virtual piano activity that was designed to promote finger range of motion and independence. Hand exercises included reaching to stationary and moving targets presented in stereo. The use of a three-dimensional robot based on admittance control allowed the use of active force applied by the subject as an input to the haptic controller. Two stroke survivors were trained for three weeks using computer gamelike activities. Subjects improved on movement kinematics and on several of the clinical tests.
{"title":"Design of a Virtual Reality-Based System For Hand and Arm Rehabilitation","authors":"S. Adamovich, Q. Qiu, Binny Talati, G. Fluet, A. Merians","doi":"10.1109/ICORR.2007.4428539","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428539","url":null,"abstract":"We have previously designed a virtual reality-based training system for hand rehabilitation. Here we report the design of an extended version of the system that allows training of the hemiparetic arm and hand during one training session, and provides haptic assistance during hand motion and during arm movements in three-dimensional space. It also allows bimanual training of the hand and arm. Hand training was based on a virtual piano activity that was designed to promote finger range of motion and independence. Hand exercises included reaching to stationary and moving targets presented in stereo. The use of a three-dimensional robot based on admittance control allowed the use of active force applied by the subject as an input to the haptic controller. Two stroke survivors were trained for three weeks using computer gamelike activities. Subjects improved on movement kinematics and on several of the clinical tests.","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":"128028874","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.2007.4428402
A. M. Oymagil, J. Hitt, T. Sugar, J. Fleeger
Wearable robotic systems can be used to assist people suffering paralysis from stroke. This paper presents the mechanical design, electronics and control structure of a powered ankle foot orthosis for stroke survivors walking on a treadmill. the mechanical structure consists of a powered orthosis using a robotic tendon that uses a motor to correctly position a tuned spring in the gait pattern. During the gait cycle, the robotic tendon regenerates spring energy and uses that energy in order to assist the subject in push off and follow through into the swing phase of gait. Rather than using a motor and gearbox having several times the weight of the foot, which can supply the required peak power, a reduced energy robotic device is built with a 0.95 kg actuator that uses one third of the power and one half of the energy required by a standard motor/gearbox solution. This device controls the equilibrium position of the spring using a closed loop position controller. A real time embedded system was developed in the Matlab Simulink environment to form hardware in the loop simulations and allow rapid control prototyping. Not only direct-control is demonstrated using a predefined gait pattern but also State Logic is developed in order to determine the user's desired gait pattern. Experimental data, gathered from able body subjects walking on a treadmill prove that the system can assist gait by decreasing the peak power that a subject should supply by 50%. It is also demonstrated that springs can apply regenerative braking and that the concept is feasible and applicable in developing lightweight, functional wearable robots.
{"title":"Control of a Regenerative Braking Powered Ankle Foot Orthosis","authors":"A. M. Oymagil, J. Hitt, T. Sugar, J. Fleeger","doi":"10.1109/ICORR.2007.4428402","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428402","url":null,"abstract":"Wearable robotic systems can be used to assist people suffering paralysis from stroke. This paper presents the mechanical design, electronics and control structure of a powered ankle foot orthosis for stroke survivors walking on a treadmill. the mechanical structure consists of a powered orthosis using a robotic tendon that uses a motor to correctly position a tuned spring in the gait pattern. During the gait cycle, the robotic tendon regenerates spring energy and uses that energy in order to assist the subject in push off and follow through into the swing phase of gait. Rather than using a motor and gearbox having several times the weight of the foot, which can supply the required peak power, a reduced energy robotic device is built with a 0.95 kg actuator that uses one third of the power and one half of the energy required by a standard motor/gearbox solution. This device controls the equilibrium position of the spring using a closed loop position controller. A real time embedded system was developed in the Matlab Simulink environment to form hardware in the loop simulations and allow rapid control prototyping. Not only direct-control is demonstrated using a predefined gait pattern but also State Logic is developed in order to determine the user's desired gait pattern. Experimental data, gathered from able body subjects walking on a treadmill prove that the system can assist gait by decreasing the peak power that a subject should supply by 50%. It is also demonstrated that springs can apply regenerative braking and that the concept is feasible and applicable in developing lightweight, functional wearable robots.","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":"124454158","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.2007.4428565
A. Jafari, M. Safavi, A. Fadaei
One of the most important criteria of the industrial robots is the dynamic performance of manipulators. There are some critical parameters which determine the dynamic performance of robot manipulators. While the correlations between these parameters are complex and highly non-linear, deciding on these parameters to optimize the dynamic performance of manipulators is a difficult and time-consuming task, especially in the early conceptual design phase. The gearbox size and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearboxes and arm lengths from an acceleration capability perspective. The arm lengths are treated as continuous variables whereas the gearboxes are selected from a list of available units. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot. The mathematical model is coded in the C language and optimized using the genetic algorithm. Comparison of the obtained results with optimum values based on complex algorithm , clearly shows the advantages of the proposed method.
{"title":"A Genetic Algorithm to Optimum Dynamic Performance of Industrial Robots in the Conceptual Design Phase","authors":"A. Jafari, M. Safavi, A. Fadaei","doi":"10.1109/ICORR.2007.4428565","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428565","url":null,"abstract":"One of the most important criteria of the industrial robots is the dynamic performance of manipulators. There are some critical parameters which determine the dynamic performance of robot manipulators. While the correlations between these parameters are complex and highly non-linear, deciding on these parameters to optimize the dynamic performance of manipulators is a difficult and time-consuming task, especially in the early conceptual design phase. The gearbox size and the lengths of the arms are parameters that have a large impact on the performance and the cost of robots. In order to perform optimization, a mathematical programming model is developed. An objective function is defined to determine optimal gearboxes and arm lengths from an acceleration capability perspective. The arm lengths are treated as continuous variables whereas the gearboxes are selected from a list of available units. This paper presents a Genetic algorithm procedure which shows how optimization can be used in the early phases of a development process in order to evaluate the potential of a concept. This study considers a three degree of freedom robot. The mathematical model is coded in the C language and optimized using the genetic algorithm. Comparison of the obtained results with optimum values based on complex algorithm , clearly shows the advantages of the proposed method.","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":"131347368","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.2007.4428400
H. A. Varol, M. Goldfarb
This paper describes a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis. Rather than utilize an "echo control" as proposed by others, which requires instrumentation of the sound-side leg, the proposed approach infers user intent based on the characteristic shape of the force and moment vector of interaction between the user and prosthesis. The real-time intent recognition approach utilizes a K-nearest neighbor algorithm with majority voting and threshold biasing schemes to increase its robustness. The ability of the approach to recognize in real time a person's intent to stand or walk at one of three different speeds is demonstrated on measured biomechanics data.
{"title":"Real-time Intent Recognition for a Powered Knee and Ankle Transfemoral Prosthesis","authors":"H. A. Varol, M. Goldfarb","doi":"10.1109/ICORR.2007.4428400","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428400","url":null,"abstract":"This paper describes a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis. Rather than utilize an \"echo control\" as proposed by others, which requires instrumentation of the sound-side leg, the proposed approach infers user intent based on the characteristic shape of the force and moment vector of interaction between the user and prosthesis. The real-time intent recognition approach utilizes a K-nearest neighbor algorithm with majority voting and threshold biasing schemes to increase its robustness. The ability of the approach to recognize in real time a person's intent to stand or walk at one of three different speeds is demonstrated 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":"131833695","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.2007.4428412
Roberto Colombo, Fabrizio Pisano, A. Mazzone, C. Delconte, G. Minuco
This paper presents a pilot study carried out in our Rehabilitation Institute to verify the feasibility of implementation of a telerehabilitation approach based on the use of robotic devices for upper limb treatment. Its application was tested only in the clinical environment. The systems architecture implemented consists of three rehabilitation stations and a supervision workstation, located in different laboratories, and interconnected by means of a standard Ethernet II network. The systems architecture was tested during the rehabilitation of four patients after chronic stroke. The performance charts showed a typical increasing/decreasing trend of the parameters measured by the robot devices, indicating a continuous improvement of the patient's performance throughout treatment similar to that obtained in controlled laboratory conditions. The telerehabilitation approach should thus allow to optimize the therapeutic intervention, despite the fact that the patient does not directly interact with the therapist.
{"title":"Development of a Systems Architecture for Robot-Aided Telerehabilitation","authors":"Roberto Colombo, Fabrizio Pisano, A. Mazzone, C. Delconte, G. Minuco","doi":"10.1109/ICORR.2007.4428412","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428412","url":null,"abstract":"This paper presents a pilot study carried out in our Rehabilitation Institute to verify the feasibility of implementation of a telerehabilitation approach based on the use of robotic devices for upper limb treatment. Its application was tested only in the clinical environment. The systems architecture implemented consists of three rehabilitation stations and a supervision workstation, located in different laboratories, and interconnected by means of a standard Ethernet II network. The systems architecture was tested during the rehabilitation of four patients after chronic stroke. The performance charts showed a typical increasing/decreasing trend of the parameters measured by the robot devices, indicating a continuous improvement of the patient's performance throughout treatment similar to that obtained in controlled laboratory conditions. The telerehabilitation approach should thus allow to optimize the therapeutic intervention, despite the fact that the patient does not directly interact with the therapist.","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":"131716016","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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