Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523797
Dong Hyun Kim, Sang Wook Lee, Hyung‐Soon Park
Developing a compact sensing system is important for controlling the joint coordination of wearable soft robotic hand rehabilitation devices. Flexible skin attachable sensors allow compact measurement of the finger and distal thumb joint (interphalangeal joint and metacarpophalangeal joint) angles. For accurate and reliable measurement of the joint angles, appropriate flexible sensors should be selected, which give stable measurements and have sensitive response with respect to the joint angle. In this study, the performance indices of two types of flexible stretchable sensors (carbon nano-tube pattern sensor and silver-nano sensor) and two type of commercial bending sensors (Bend Sensor® and Flex Sensor®) are compared. A plastic test bed was designed to collect the sensor signal respect to the bending angle. The sensitivity, relaxation, repeatability and hysteresis of each sensor were investigated and compared, and eventually a suitable sensor for soft robotic hand rehabilitation device is proposed.
{"title":"Sensor evaluation for soft robotic hand rehabilitation devices","authors":"Dong Hyun Kim, Sang Wook Lee, Hyung‐Soon Park","doi":"10.1109/BIOROB.2016.7523797","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523797","url":null,"abstract":"Developing a compact sensing system is important for controlling the joint coordination of wearable soft robotic hand rehabilitation devices. Flexible skin attachable sensors allow compact measurement of the finger and distal thumb joint (interphalangeal joint and metacarpophalangeal joint) angles. For accurate and reliable measurement of the joint angles, appropriate flexible sensors should be selected, which give stable measurements and have sensitive response with respect to the joint angle. In this study, the performance indices of two types of flexible stretchable sensors (carbon nano-tube pattern sensor and silver-nano sensor) and two type of commercial bending sensors (Bend Sensor® and Flex Sensor®) are compared. A plastic test bed was designed to collect the sensor signal respect to the bending angle. The sensitivity, relaxation, repeatability and hysteresis of each sensor were investigated and compared, and eventually a suitable sensor for soft robotic hand rehabilitation device is proposed.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129429112","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523604
K. Cho, M. Song, H. Jung, S. Yang, H. Moon, J. Koo, J. Nam, Hyoukryeol Choi
Research about the artificial muscle made of fishing lines or sewing threads, called the twisted and coiled polymer actuator (abbreviated as TCA in this paper) has collected many interests, recently. Since TCA has a specific power surpassing the human skeletal muscle theoretically, it is expected to be a new generation of the artificial muscle actuator. In order that the TCA is utilized as a useful actuator, this paper introduces the fabrication and the modeling of the temperature-controllable TCA. With an embedded micro thermistor, the TCA is able to measure temperature directly, and feedback control is realized. The safe range of the force and temperature for the continuous use of the TCA was identified through experiments, and the closed-loop temperature control is successfully performed without the breakage of TCA.
{"title":"Fabrication and modeling of temperature-controllable artificial muscle actuator","authors":"K. Cho, M. Song, H. Jung, S. Yang, H. Moon, J. Koo, J. Nam, Hyoukryeol Choi","doi":"10.1109/BIOROB.2016.7523604","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523604","url":null,"abstract":"Research about the artificial muscle made of fishing lines or sewing threads, called the twisted and coiled polymer actuator (abbreviated as TCA in this paper) has collected many interests, recently. Since TCA has a specific power surpassing the human skeletal muscle theoretically, it is expected to be a new generation of the artificial muscle actuator. In order that the TCA is utilized as a useful actuator, this paper introduces the fabrication and the modeling of the temperature-controllable TCA. With an embedded micro thermistor, the TCA is able to measure temperature directly, and feedback control is realized. The safe range of the force and temperature for the continuous use of the TCA was identified through experiments, and the closed-loop temperature control is successfully performed without the breakage of TCA.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129527428","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523767
Ismail Kuru, Martina Roth, F. Ferrer, Y. Krieger, T. Lenarz, H. Maier, T. Lüth
The tympanoplasty-III is a widely used method to heal the conductive hearing loss with passive prostheses. One of the major challenges during this procedure is to determine the correct prosthesis length during the surgery, in order to apply an optimal tension on the tissues. However, a suboptimal tension on the tissues may occur because of a varying ambient pressure and tissue changes after the operation. This may decrease the quality of sound conduction, cause prosthesis luxation and even injure the tympanic membrane or inner ear. Yet, the state of the art prostheses can only be adjusted during the operation and they cannot adapt themselves to these postoperative changes. In this paper, we present a manufacturing concept for a new middle ear prosthesis that can adapt its length to postoperative changes. Our work on the manufacturing process includes an early concept evaluation with a finite element model as well as our first outcomes with the manufactured prosthesis models.
{"title":"Design and manufacturing concept of a postoperative adjustable prosthesis for ossicular chain reconstructions","authors":"Ismail Kuru, Martina Roth, F. Ferrer, Y. Krieger, T. Lenarz, H. Maier, T. Lüth","doi":"10.1109/BIOROB.2016.7523767","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523767","url":null,"abstract":"The tympanoplasty-III is a widely used method to heal the conductive hearing loss with passive prostheses. One of the major challenges during this procedure is to determine the correct prosthesis length during the surgery, in order to apply an optimal tension on the tissues. However, a suboptimal tension on the tissues may occur because of a varying ambient pressure and tissue changes after the operation. This may decrease the quality of sound conduction, cause prosthesis luxation and even injure the tympanic membrane or inner ear. Yet, the state of the art prostheses can only be adjusted during the operation and they cannot adapt themselves to these postoperative changes. In this paper, we present a manufacturing concept for a new middle ear prosthesis that can adapt its length to postoperative changes. Our work on the manufacturing process includes an early concept evaluation with a finite element model as well as our first outcomes with the manufactured prosthesis models.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129705939","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523710
A. Gmerek, N. Meskin, E. Sobhani-Tehrani, R. Kearney
The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness to determine design requirements for such ankle devices to operate in the sagittal plane (i.e. ankle plantarflexion/dorsiflexion). The design requirements are derived in terms of average torque, rotatum, range of motion, velocity, acceleration, system bandwidth, torque-velocity curve, and the torque probability density function.
{"title":"The characterization of the kinematic and dynamic properties of the ankle joint for an artificial ankle joint design","authors":"A. Gmerek, N. Meskin, E. Sobhani-Tehrani, R. Kearney","doi":"10.1109/BIOROB.2016.7523710","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523710","url":null,"abstract":"The kinematic and dynamic properties of the ankle joint (talocrural region) in normal subjects provide important information for the design of rehabilitation robots, below-knee prostheses, ankle-foot orthoses, and exoskeletons. This paper presents a quantitative analysis of published experimental data, simulation studies of human gait, and a dynamic model of ankle joint intrinsic and reflex stiffness to determine design requirements for such ankle devices to operate in the sagittal plane (i.e. ankle plantarflexion/dorsiflexion). The design requirements are derived in terms of average torque, rotatum, range of motion, velocity, acceleration, system bandwidth, torque-velocity curve, and the torque probability density function.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129630926","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523697
Peter N. Kooren, J. Lobo-Prat, A. Keemink, M. Janssen, A. Stienen, I. Groot, M. Paalman, R. Verdaasdonk, B. Koopman
Adults with Duchenne muscular dystrophy (DMD) can benefit from active arm supports that augment the residual motion capabilities of their arms. While there is a considerable number of active exoskeletons commercially available for rehabilitation purposes, no active exoskeletons for supporting the arm function during the performance of activities of daily living (ADL) are available. In this paper, we present the Active A-gear, a wearable five degree-of freedom exoskeleton that has been specially developed to assist people with DMD for the performance of ADL. The Active A-Gear is built upon our previous design of the passive A-Gear, thus combining active and passive support. The Active A-Gear can be controlled using force-based (admittance) control. We report the results of the system verification, which included endpoint position bandwidth, workspace, weight, joint speed, endpoint force and joint backlash measurements. A pilot evaluation was carried out with one healthy subject (27 years-old) performing ADL. The results of the verification and evaluation tests indicate that with some modifications the Active A-Gear is a suitable platform to test the functional performance and feasibility of a wearable and active support for adults with DMD.
成人杜氏肌营养不良症(DMD)可以受益于积极的手臂支持，增加他们的手臂的残余运动能力。虽然市面上有相当数量的用于康复目的的活性外骨骼，但在日常生活活动(ADL)期间支持手臂功能的活性外骨骼还没有。在本文中，我们介绍了Active a -gear，这是一种可穿戴的五自由度外骨骼，专门用于帮助患有DMD的人实现ADL的性能。主动a齿轮是建立在我们以前的被动a齿轮的设计，从而结合主动和被动的支持。主动a齿轮可以使用基于力的(导纳)控制来控制。我们报告了系统验证的结果，包括端点位置带宽、工作空间、重量、关节速度、端点力和关节间隙测量。对一名健康受试者(27岁)进行ADL的初步评估。验证和评估测试的结果表明，经过一些修改，Active a - gear是测试成人DMD可穿戴和主动支持的功能性能和可行性的合适平台。
{"title":"Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy","authors":"Peter N. Kooren, J. Lobo-Prat, A. Keemink, M. Janssen, A. Stienen, I. Groot, M. Paalman, R. Verdaasdonk, B. Koopman","doi":"10.1109/BIOROB.2016.7523697","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523697","url":null,"abstract":"Adults with Duchenne muscular dystrophy (DMD) can benefit from active arm supports that augment the residual motion capabilities of their arms. While there is a considerable number of active exoskeletons commercially available for rehabilitation purposes, no active exoskeletons for supporting the arm function during the performance of activities of daily living (ADL) are available. In this paper, we present the Active A-gear, a wearable five degree-of freedom exoskeleton that has been specially developed to assist people with DMD for the performance of ADL. The Active A-Gear is built upon our previous design of the passive A-Gear, thus combining active and passive support. The Active A-Gear can be controlled using force-based (admittance) control. We report the results of the system verification, which included endpoint position bandwidth, workspace, weight, joint speed, endpoint force and joint backlash measurements. A pilot evaluation was carried out with one healthy subject (27 years-old) performing ADL. The results of the verification and evaluation tests indicate that with some modifications the Active A-Gear is a suitable platform to test the functional performance and feasibility of a wearable and active support for adults with DMD.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130836267","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523673
Sungmin Kim, Youri Tan, P. Kazanzides, M. Bell
Injury to the internal carotid arteries during the minimally invasive procedure to remove pituitary tumors (i.e., endonasal transsphenoidal surgery) could have many severe complications, including patient death. While preoperative CT or MR images are available to assist with navigation, the location of these arteries may be uncertain during surgery due to registration errors and intraoperative changes. Ideally, the surgeon should be able to visualize these arteries in real-time, even though they are behind the bone being drilled. We are therefore exploring the feasibility of a novel photoacoustic image-guided telerobotic system to measure the location of the artery with respect to the drill tip and to accurately visualize the spatial relationship between the artery and drill tip with respect to the imaging system components (i.e., the optical fiber attached to the drill and the ultrasound transducer). The potential system accuracy was evaluated in a two-stage approach that includes gross localization of the vessel center, followed by refinement with an image-based algorithm. This method was tested with a research-based da Vinci Surgical System, simulated photoacoustic data, and experimental data, revealing mean absolute errors of 1.89±0.93 mm and 0.3±0.2 mm for gross and fine positioning, respectively. Results are promising for surgeons to visualize the internal carotid arteries and thereby avoid injury with a teleoperative robotic approach.
{"title":"Feasibility of photoacoustic image guidance for telerobotic endonasal transsphenoidal surgery","authors":"Sungmin Kim, Youri Tan, P. Kazanzides, M. Bell","doi":"10.1109/BIOROB.2016.7523673","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523673","url":null,"abstract":"Injury to the internal carotid arteries during the minimally invasive procedure to remove pituitary tumors (i.e., endonasal transsphenoidal surgery) could have many severe complications, including patient death. While preoperative CT or MR images are available to assist with navigation, the location of these arteries may be uncertain during surgery due to registration errors and intraoperative changes. Ideally, the surgeon should be able to visualize these arteries in real-time, even though they are behind the bone being drilled. We are therefore exploring the feasibility of a novel photoacoustic image-guided telerobotic system to measure the location of the artery with respect to the drill tip and to accurately visualize the spatial relationship between the artery and drill tip with respect to the imaging system components (i.e., the optical fiber attached to the drill and the ultrasound transducer). The potential system accuracy was evaluated in a two-stage approach that includes gross localization of the vessel center, followed by refinement with an image-based algorithm. This method was tested with a research-based da Vinci Surgical System, simulated photoacoustic data, and experimental data, revealing mean absolute errors of 1.89±0.93 mm and 0.3±0.2 mm for gross and fine positioning, respectively. Results are promising for surgeons to visualize the internal carotid arteries and thereby avoid injury with a teleoperative robotic approach.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130923038","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523755
Ping-lu Wang
In order to investigate evaluation methodology for hemiparetic gaits on rehabilitation purpose, volunteering subjects are recruited on the standardized walking trials. EMG signals are collected from six muscle groups on each lower limb. Improved autocorrelation analysis combined with gait analysis is then proposed. As the completion of gait cycle is described by percentage, gait quality is evaluated by the periodic characteristics and the peak value occurs on 100 %, 200%, 300%, and 400% of gait cycles from zero phase that are recorded. The similarities are assessed by specific number from 0 to 1.0, and the more approach to 1.0, the higher similarity is represented. Then the function of balance control ability is assessed between left and right sides. The resulting evaluation of gait qualities are initially assessed based on measuring and numerical outcome. The effect of the proposed method is verified by a case study as it is clearly agreed with the qualitative evaluation obtained from clinical professionals. More clinical studies will be carried out to further confirm the effectiveness of this proposed method. The proposed evaluation methodology could also be potentially used as the bio-feedback for the robotic-assisted rehabilitation in future.
{"title":"Autocorrelation analysis of lower limb EMG signals for the initial evaluation of hemiparetic gaits","authors":"Ping-lu Wang","doi":"10.1109/BIOROB.2016.7523755","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523755","url":null,"abstract":"In order to investigate evaluation methodology for hemiparetic gaits on rehabilitation purpose, volunteering subjects are recruited on the standardized walking trials. EMG signals are collected from six muscle groups on each lower limb. Improved autocorrelation analysis combined with gait analysis is then proposed. As the completion of gait cycle is described by percentage, gait quality is evaluated by the periodic characteristics and the peak value occurs on 100 %, 200%, 300%, and 400% of gait cycles from zero phase that are recorded. The similarities are assessed by specific number from 0 to 1.0, and the more approach to 1.0, the higher similarity is represented. Then the function of balance control ability is assessed between left and right sides. The resulting evaluation of gait qualities are initially assessed based on measuring and numerical outcome. The effect of the proposed method is verified by a case study as it is clearly agreed with the qualitative evaluation obtained from clinical professionals. More clinical studies will be carried out to further confirm the effectiveness of this proposed method. The proposed evaluation methodology could also be potentially used as the bio-feedback for the robotic-assisted rehabilitation in future.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130410972","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523762
Thales B. Pasqual, G. Caurin, A. Siqueira
This article proposes an approach to adapt a game to ankle movement for a rehabilitation mechanism. Thus, a game was developed for ankle rehabilitation, which is inspired in the commercial version, already used with the AnkleBot (by Interactive Motion Technologies - IMT), changing both aesthetics and gameplay characteristics aiming a more intuitive and softer gameplay, improving the game experience. The movement underwent a transformation from elliptical motion, performed by the ankle, to game's rectangular workspace, better exploiting subject's movement features. For the assistance-resistance behavior the robot imposes to the user, a similar change was implemented converting a rectangular constraint to an elliptical one. These changes avoided motion discontinuity sensations to the user and provided a consistent motion for the ankle movement. Initial tests with a healthy subject showed that it is possible to adapt the game drive to the ankle movement through this mathematical transformation, better exploiting the player movement space and a smooth robot cooperation behavior, with movements more intuitive. System calibration is performed runtime, which allows not only the game to adjust itself for each patient, but also to adjust for every new achievement in patient's movement.
{"title":"Serious game development for Ankle rehabilitation aiming at user experience","authors":"Thales B. Pasqual, G. Caurin, A. Siqueira","doi":"10.1109/BIOROB.2016.7523762","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523762","url":null,"abstract":"This article proposes an approach to adapt a game to ankle movement for a rehabilitation mechanism. Thus, a game was developed for ankle rehabilitation, which is inspired in the commercial version, already used with the AnkleBot (by Interactive Motion Technologies - IMT), changing both aesthetics and gameplay characteristics aiming a more intuitive and softer gameplay, improving the game experience. The movement underwent a transformation from elliptical motion, performed by the ankle, to game's rectangular workspace, better exploiting subject's movement features. For the assistance-resistance behavior the robot imposes to the user, a similar change was implemented converting a rectangular constraint to an elliptical one. These changes avoided motion discontinuity sensations to the user and provided a consistent motion for the ankle movement. Initial tests with a healthy subject showed that it is possible to adapt the game drive to the ankle movement through this mathematical transformation, better exploiting the player movement space and a smooth robot cooperation behavior, with movements more intuitive. System calibration is performed runtime, which allows not only the game to adjust itself for each patient, but also to adjust for every new achievement in patient's movement.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130462324","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523624
Zheng Li, Chengzhi Song, Hongmin Wang
Objective - Minimally invasive surgery has been widely embraced due to its multitude benefits, especially less traumatic. The key to its success is the instruments' accessibility and manipulability inside the confined surgical space. This motivates researchers to develop flexible manipulators, which could bend inside the body cavity. Two representative flexible manipulators include the wire-driven manipulator (WDM) and the concentric tube manipulator (CTM) [1-2]. In general, WDMs excel in curvature control but the lengths of their bending sections are fixed. This limits their accessibility and manipulability [3-4]. In this work, we intend to improve these by a new design.
{"title":"Design and prototyping of a concentric wire-driven manipulator","authors":"Zheng Li, Chengzhi Song, Hongmin Wang","doi":"10.1109/BIOROB.2016.7523624","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523624","url":null,"abstract":"Objective - Minimally invasive surgery has been widely embraced due to its multitude benefits, especially less traumatic. The key to its success is the instruments' accessibility and manipulability inside the confined surgical space. This motivates researchers to develop flexible manipulators, which could bend inside the body cavity. Two representative flexible manipulators include the wire-driven manipulator (WDM) and the concentric tube manipulator (CTM) [1-2]. In general, WDMs excel in curvature control but the lengths of their bending sections are fixed. This limits their accessibility and manipulability [3-4]. In this work, we intend to improve these by a new design.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121567040","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523803
Ashish Dhiman, Dhaval Solanki, A. Bhasin, A. Bhise, Abhijit Das, U. Lahiri
Neurological disorders are major cause of global disease burden. They often impair hand function, a critical element of our day-to-day activities of daily living. Conventional rehabilitation techniques aim to improve one's ability to use affected limbs which are tailored to individual capabilities (performance and stress level) by clinicians based on the patient's health and progress in skill. However, in developing countries, like India with increasing healthcare costs for availing specialized services, patients are often discharged sooner than required from healthcare units following stroke. Additionally, the situation becomes critical with limited availability of trained healthcare resources. Thus design of intelligent home-based technology-assisted individualized rehabilitation platform with real-time feedback with monitored skill progress is essential. In our present research, we have designed a Virtual Reality (VR) based haptic-enabled Physiologically Aided (PA) Rehabilitation System for patients with upper limb movement disorders. Additionally, we have made a comparative analysis of our PA system with Performance Sensitive (PS) system while offering tasks of varying difficulty levels along with audio-visual feedback. We have designed a Usability Study as proof-of-concept application where we have focused on the patient's shoulder abduction and adduction exercise. The preliminary results of our study are promising. This shows that our system can be a step towards designing a VR-based technology-assisted rehabilitation platform for stroke patients with a potential to address at least some of the issues associated with upper limb movement disorders.
{"title":"Design of adaptive haptic-enabled virtual reality based system for upper limb movement disorders: A Usability Study","authors":"Ashish Dhiman, Dhaval Solanki, A. Bhasin, A. Bhise, Abhijit Das, U. Lahiri","doi":"10.1109/BIOROB.2016.7523803","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523803","url":null,"abstract":"Neurological disorders are major cause of global disease burden. They often impair hand function, a critical element of our day-to-day activities of daily living. Conventional rehabilitation techniques aim to improve one's ability to use affected limbs which are tailored to individual capabilities (performance and stress level) by clinicians based on the patient's health and progress in skill. However, in developing countries, like India with increasing healthcare costs for availing specialized services, patients are often discharged sooner than required from healthcare units following stroke. Additionally, the situation becomes critical with limited availability of trained healthcare resources. Thus design of intelligent home-based technology-assisted individualized rehabilitation platform with real-time feedback with monitored skill progress is essential. In our present research, we have designed a Virtual Reality (VR) based haptic-enabled Physiologically Aided (PA) Rehabilitation System for patients with upper limb movement disorders. Additionally, we have made a comparative analysis of our PA system with Performance Sensitive (PS) system while offering tasks of varying difficulty levels along with audio-visual feedback. We have designed a Usability Study as proof-of-concept application where we have focused on the patient's shoulder abduction and adduction exercise. The preliminary results of our study are promising. This shows that our system can be a step towards designing a VR-based technology-assisted rehabilitation platform for stroke patients with a potential to address at least some of the issues associated with upper limb movement disorders.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116644523","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：