Pub Date : 2018-08-01DOI: 10.1109/BIOROB.2018.8487692
C. B. Sanz-Morère, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, S. Crea, N. Vitiello
Lower-limb loss is a dramatic event affecting quality of life and often reducing independence. An active Knee-Ankle-Foot Orthosis (KAFO) could represent an assistive tool for lower-limb amputees to reduce the additional metabolic effort resulting from compensatory strategies due to walking with a passive prosthesis. Within the CYBERLEGs project, a novel active KAFO was designed to assist the knee and the ankle joints during ground level walking. In this paper the mechatronic design of the device is presented for the first time. Moreover, the paper presents the control strategy developed to provide knee and ankle assistance and the experimental results with two volunteers with lower-limb amputation. The KAFO was shown to: (i) fulfill all the design functional requirements to comply with range of motion, torque, speed and power; and (ii) provide assistive torque in the most demanding phases of the gait cycle. Tests with end-users showed that the assistive action resulted in physiological profiles of the knee and ankle angles and torques, showing a first proof of feasibility for the presented system. Both subjects reported comfortable interaction with the exoskeleton, but results on the metabolic consumption were not conclusive. This feasibility study will be extended in the future with an optimized controller to further explore the effectiveness of the system.
{"title":"A Bioinspired Control Strategy for the CYBERLEGs Knee-Ankle-Foot Orthosis: Feasibility Study with Lower-Limb Amputees","authors":"C. B. Sanz-Morère, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, S. Crea, N. Vitiello","doi":"10.1109/BIOROB.2018.8487692","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487692","url":null,"abstract":"Lower-limb loss is a dramatic event affecting quality of life and often reducing independence. An active Knee-Ankle-Foot Orthosis (KAFO) could represent an assistive tool for lower-limb amputees to reduce the additional metabolic effort resulting from compensatory strategies due to walking with a passive prosthesis. Within the CYBERLEGs project, a novel active KAFO was designed to assist the knee and the ankle joints during ground level walking. In this paper the mechatronic design of the device is presented for the first time. Moreover, the paper presents the control strategy developed to provide knee and ankle assistance and the experimental results with two volunteers with lower-limb amputation. The KAFO was shown to: (i) fulfill all the design functional requirements to comply with range of motion, torque, speed and power; and (ii) provide assistive torque in the most demanding phases of the gait cycle. Tests with end-users showed that the assistive action resulted in physiological profiles of the knee and ankle angles and torques, showing a first proof of feasibility for the presented system. Both subjects reported comfortable interaction with the exoskeleton, but results on the metabolic consumption were not conclusive. This feasibility study will be extended in the future with an optimized controller to further explore the effectiveness of the system.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131765487","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487799
P. Greiner, N. V. D. Noot, A. Ijspeert, R. Ronsse
Deploying humanoid robots in complex and unstructured environments requires the development of efficient and adaptive locomotion controllers. Bio-inspiration holds promises in this perspective, since humans are known to have both an energy efficient gait, and the capacity to modulate it across several features like forward speed and step length and height. In this paper, we report the development of a bio-inspired controller for bipedal walking that can achieve controlled modulations of the step height and length over a large range. This controller builds upon our previous work where we combined both a Central Pattern Generator (CPG) and reflex-like modulations with a layer of virtual muscles providing human-like leg impedance. Here, we report first a sensitivity analysis that was performed to identify those among the many parameters of our controller that can actually modulate the step height and length. Then, we report experimental results illustrating such controlled modulations over a large parameter space.
{"title":"Continuous Modulation of Step Height and Length in Bipedal Walking, Combining Reflexes and a Central Pattern Generator","authors":"P. Greiner, N. V. D. Noot, A. Ijspeert, R. Ronsse","doi":"10.1109/BIOROB.2018.8487799","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487799","url":null,"abstract":"Deploying humanoid robots in complex and unstructured environments requires the development of efficient and adaptive locomotion controllers. Bio-inspiration holds promises in this perspective, since humans are known to have both an energy efficient gait, and the capacity to modulate it across several features like forward speed and step length and height. In this paper, we report the development of a bio-inspired controller for bipedal walking that can achieve controlled modulations of the step height and length over a large range. This controller builds upon our previous work where we combined both a Central Pattern Generator (CPG) and reflex-like modulations with a layer of virtual muscles providing human-like leg impedance. Here, we report first a sensitivity analysis that was performed to identify those among the many parameters of our controller that can actually modulate the step height and length. Then, we report experimental results illustrating such controlled modulations over a large parameter space.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132873550","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8488077
R. Mello, Mario F. Jiménez, Franco Souza, Moisés R. N. Ribeiro, A. Frizera-Neto
The increased computational complexity demanded by recent algorithms and techniques applied to healthcare and social robotics, often limited by the robot's embedded hardware, coupled with advancements on networking and cloud computing enabled the so-called cloud robotics paradigm. This work explores cloud robotics concepts pointing at opportunities on the design and development of robotic platforms used for patient mobility assistance. Moreover, we present CloudWalker, a cloud-enabled cyber-physical system to assist mobility impaired individuals. The conception of such system envisions the integration of smart walkers and remote cloud computing platforms, aiming at expanding the range of features these devices can offer to users, patients, healthcare professionals, and family members. Results from validation experiments point to the emergence of a new generation of smart walkers and assistive devices in general, designed to leverage cloud computing concepts to provide an extended range of services to users, relatives, and healthcare professionals.
{"title":"Towards a New Generation of Smart Devices for Mobility Assistance: CloudWalker, a Cloud-Enabled Cyber-Pbysical System","authors":"R. Mello, Mario F. Jiménez, Franco Souza, Moisés R. N. Ribeiro, A. Frizera-Neto","doi":"10.1109/BIOROB.2018.8488077","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488077","url":null,"abstract":"The increased computational complexity demanded by recent algorithms and techniques applied to healthcare and social robotics, often limited by the robot's embedded hardware, coupled with advancements on networking and cloud computing enabled the so-called cloud robotics paradigm. This work explores cloud robotics concepts pointing at opportunities on the design and development of robotic platforms used for patient mobility assistance. Moreover, we present CloudWalker, a cloud-enabled cyber-physical system to assist mobility impaired individuals. The conception of such system envisions the integration of smart walkers and remote cloud computing platforms, aiming at expanding the range of features these devices can offer to users, patients, healthcare professionals, and family members. Results from validation experiments point to the emergence of a new generation of smart walkers and assistive devices in general, designed to leverage cloud computing concepts to provide an extended range of services to users, relatives, and healthcare professionals.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127799722","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487210
Frank J. Wouda, M. Giuberti, G. Bellusci, Erik Maartens, J. Reenalda, B. Beijnum, P. Veltink
An increasing diversity of available motion capture technologies allows for measurement of human kinematics in various environments. However, little is known about the differences in quality of measured kinematics by such technologies. Therefore, this work presents a comparison between three motion capture approaches, based on inertial-magnetic measurement units (processed with Xsens MVN Analyze) and optical markers (processed using Plug-In Gait and OpenSim Gait2392). It was chosen to evaluate the different motion capture approaches in running, as such kinematics are preferably measured in the natural running environment and involve challenging dynamics. An evaluation was done using data of 8 subjects running on a treadmill at three different speeds, namely 10, 12 and 14 kmlh. The sagittal plane results show excellent correlation $(rho > pmb{0.96})$ and RMSDs are smaller than 5 degrees for 6 out of the 8 subjects. However, results in the frontal and transversal planes were less correlated between the different motion capture approaches. This shows that sagittal kinematics can be measured consistently using any of the three analyzed motion capture approaches, but ambiguities exist in the analysis of frontal and transversal planes.
越来越多的可用动作捕捉技术允许在各种环境中测量人体运动学。然而，人们对这些技术在测量运动学质量上的差异知之甚少。因此，这项工作提出了三种运动捕捉方法的比较，基于惯性磁测量单元(用Xsens MVN Analyze处理)和光学标记(使用Plug-In步态和OpenSim Gait2392处理)。选择它是为了评估不同的运动捕捉方法在运行中，因为这样的运动学最好是在自然运行环境中测量，并涉及具有挑战性的动力学。对8名受试者在跑步机上以10、12、14 km / h三种不同速度跑步的数据进行评估。矢状面结果显示良好的相关性$(rho > pmb{0.96})$和rmsd小于5度的8名受试者中有6名。然而，在不同的动作捕捉方法之间，正面和横向平面的结果相关性较小。这表明，矢状面运动学可以使用三种分析的运动捕捉方法中的任何一种一致地测量，但在正面和横断面的分析中存在歧义。
{"title":"On the Validity of Different Motion Capture Technologies for the Analysis of Running","authors":"Frank J. Wouda, M. Giuberti, G. Bellusci, Erik Maartens, J. Reenalda, B. Beijnum, P. Veltink","doi":"10.1109/BIOROB.2018.8487210","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487210","url":null,"abstract":"An increasing diversity of available motion capture technologies allows for measurement of human kinematics in various environments. However, little is known about the differences in quality of measured kinematics by such technologies. Therefore, this work presents a comparison between three motion capture approaches, based on inertial-magnetic measurement units (processed with Xsens MVN Analyze) and optical markers (processed using Plug-In Gait and OpenSim Gait2392). It was chosen to evaluate the different motion capture approaches in running, as such kinematics are preferably measured in the natural running environment and involve challenging dynamics. An evaluation was done using data of 8 subjects running on a treadmill at three different speeds, namely 10, 12 and 14 kmlh. The sagittal plane results show excellent correlation $(rho > pmb{0.96})$ and RMSDs are smaller than 5 degrees for 6 out of the 8 subjects. However, results in the frontal and transversal planes were less correlated between the different motion capture approaches. This shows that sagittal kinematics can be measured consistently using any of the three analyzed motion capture approaches, but ambiguities exist in the analysis of frontal and transversal planes.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115717016","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8488148
Lei Hou, Xinli Du, N. Boulgouris
Intracochlear electrode array insertion is a crucial process for cochlear implant surgery. However, the behavior of the intracochlear electrode array during the insertion remains unclear to surgeons. In order to minimize or eliminate the trauma induced by electrode array insertion, we propose an electrode capacitive sensing method to sense the behaviors of the electrode array during the robotic insertion process. To this end, we take a single capacitance measurement between electrode pair 1 and 2 during the robotic insertion and show experimentally that capacitance signal curves are systematically affected by intracochlear forces between the scala tympani wall and the contact electrode. Therefore, electrode capacitance measurements help track the motion between the electrode array and the cochlear lateral wall during surgeries.
{"title":"A Novel Sensing System for Robotic Cochlear Implants Electrode Array Placement","authors":"Lei Hou, Xinli Du, N. Boulgouris","doi":"10.1109/BIOROB.2018.8488148","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488148","url":null,"abstract":"Intracochlear electrode array insertion is a crucial process for cochlear implant surgery. However, the behavior of the intracochlear electrode array during the insertion remains unclear to surgeons. In order to minimize or eliminate the trauma induced by electrode array insertion, we propose an electrode capacitive sensing method to sense the behaviors of the electrode array during the robotic insertion process. To this end, we take a single capacitance measurement between electrode pair 1 and 2 during the robotic insertion and show experimentally that capacitance signal curves are systematically affected by intracochlear forces between the scala tympani wall and the contact electrode. Therefore, electrode capacitance measurements help track the motion between the electrode array and the cochlear lateral wall during surgeries.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114882800","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487806
Blair H. Hu, N. Krausz, L. Hargrove
Lower limb assistive devices have shown potential to restore mobility to millions of individuals with walking impairments; however, their success depends on whether they can be controlled safely, reliably, and intuitively with user-friendly sensors. To assist the user's walking patterns, many devices implement finite-state controllers which rely on accurate estimation of the current gait phase (e.g. stance, swing) of one or both legs. Bilateral gait segmentation is especially important for restoring natural interlimb coordination, which contributes to device safety and efficiency. Most existing techniques for gait segmentation use ground contact, device-embedded, or body-worn sensors with threshold or machine learning-based algorithms. They have been effective at identifying the state of the ipsilateral (i.e. sensor-side) leg but can become inconvenient for bilateral gait segmentation because they often require many sensors and are more sensitive to sensor placement. Therefore, we present a proof of concept for a novel approach to bilateral gait segmentation using a thigh-mounted inertial measurement unit (IMU) and depth sensor with the contralateral leg in its field of view. We extracted two features, ground and shank angle, from the depth data and developed a sensor fusion strategy to predict contralateral heel contact and ipsilateral toe off with accuracy approaching that of a setup with bilateral thigh and shank IMUs. By using computer vision to estimate the state of both legs, we introduce a new technique for bilateral gait segmentation which could make assistive devices more user-friendly, safe, and functional.
{"title":"A Novel Method for Bilateral Gait Segmentation Using a Single Thigh-Mounted Depth Sensor and IMU","authors":"Blair H. Hu, N. Krausz, L. Hargrove","doi":"10.1109/BIOROB.2018.8487806","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487806","url":null,"abstract":"Lower limb assistive devices have shown potential to restore mobility to millions of individuals with walking impairments; however, their success depends on whether they can be controlled safely, reliably, and intuitively with user-friendly sensors. To assist the user's walking patterns, many devices implement finite-state controllers which rely on accurate estimation of the current gait phase (e.g. stance, swing) of one or both legs. Bilateral gait segmentation is especially important for restoring natural interlimb coordination, which contributes to device safety and efficiency. Most existing techniques for gait segmentation use ground contact, device-embedded, or body-worn sensors with threshold or machine learning-based algorithms. They have been effective at identifying the state of the ipsilateral (i.e. sensor-side) leg but can become inconvenient for bilateral gait segmentation because they often require many sensors and are more sensitive to sensor placement. Therefore, we present a proof of concept for a novel approach to bilateral gait segmentation using a thigh-mounted inertial measurement unit (IMU) and depth sensor with the contralateral leg in its field of view. We extracted two features, ground and shank angle, from the depth data and developed a sensor fusion strategy to predict contralateral heel contact and ipsilateral toe off with accuracy approaching that of a setup with bilateral thigh and shank IMUs. By using computer vision to estimate the state of both legs, we introduce a new technique for bilateral gait segmentation which could make assistive devices more user-friendly, safe, and functional.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123427431","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487906
A. L. V. Ommeren, B. Radder, J. Buurke, A. Kottink, J. Holmberg, K. Sletta, Gerdienke B. Prange-Lasonder, J. Rietman
Many stroke survivors encounter difficulties in the performance of activities of daily life due to limitations in functional use of the hand. Robotic technology has the potential to compensate for this loss by providing the support that is required to perform activities of daily living, especially when these devices are wearable comfortably for many hours at home. As a first step towards the implementation of assistive technology in the homes of stroke survivors, usability along with the potential effect of prolonged use of a wearable soft-robotic glove during activities of daily life on functional task performance was assessed in this study. Therefore, five chronic stroke survivors were asked to use a wearable soft-robotic glove for four weeks at home during preferred activities of daily life. Before and after the home use of the glove, functional task performance was assessed in a lab environment. After the use of the glove, system usability was assessed. The prolonged use of the glove resulted in an improved supported and unsupported functional performance during tasks related to activities of daily life, as measured with the Jebsen-Taylor Hand Function Test. Promising system usability results were found indicating a good probability for acceptance of the glove. The results from this study indicate the potential of the current glove to be used as assistive tool, which even showed a therapeutic effect. Yet, the glove should be tested in a larger sample for better interpretation and confirmation of these promising results.
{"title":"The Effect of Prolonged Use of a Wearable Soft-Robotic Glove Post Stroke - a Proof-of-Principle","authors":"A. L. V. Ommeren, B. Radder, J. Buurke, A. Kottink, J. Holmberg, K. Sletta, Gerdienke B. Prange-Lasonder, J. Rietman","doi":"10.1109/BIOROB.2018.8487906","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487906","url":null,"abstract":"Many stroke survivors encounter difficulties in the performance of activities of daily life due to limitations in functional use of the hand. Robotic technology has the potential to compensate for this loss by providing the support that is required to perform activities of daily living, especially when these devices are wearable comfortably for many hours at home. As a first step towards the implementation of assistive technology in the homes of stroke survivors, usability along with the potential effect of prolonged use of a wearable soft-robotic glove during activities of daily life on functional task performance was assessed in this study. Therefore, five chronic stroke survivors were asked to use a wearable soft-robotic glove for four weeks at home during preferred activities of daily life. Before and after the home use of the glove, functional task performance was assessed in a lab environment. After the use of the glove, system usability was assessed. The prolonged use of the glove resulted in an improved supported and unsupported functional performance during tasks related to activities of daily life, as measured with the Jebsen-Taylor Hand Function Test. Promising system usability results were found indicating a good probability for acceptance of the glove. The results from this study indicate the potential of the current glove to be used as assistive tool, which even showed a therapeutic effect. Yet, the glove should be tested in a larger sample for better interpretation and confirmation of these promising results.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130719514","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487735
E. Scalona, F. Martelli, Z. Prete, E. Palermo, S. Rossi
Motor learning or motor adaptation is the capability to acquire new motor skills or the adaptation of existing motor skills to new environmental conditions. In this paper, a new protocol based on a low-cost haptic device for evaluating the motor adaptation during perturbed 3D reaching tasks was presented. The protocol consisted of three 3D reaching tasks performed using Novint Falcon: a familiarization task in which no force fieldwas applied, an adaptation task in which a perturbing force field occurred, and a wash out task with no force field. Ten healthy subjects were enrolled in the study. Subjects were asked to reach four targets equally distributed along a circumference. During the adaptation task, a constant force perpendicular to the direction of movement was applied and it was randomly removed 40 times out of 160. Trajectories of the end-effector were recorded to calculate the following kinematic indices: duration of movement, length ratio, lateral deviation, speed metric and normalized jerk. The learning index was calculated to study the motor learning during the adaptation task. Two-way repeated measure ANOVA tests were performed for all the indices considering movement directions and tasks as independent variables. Moreover, a one-way repeated measure ANOVA was performed on the learning index to find differences among the 4 target sets. The movement accuracy is influenced from both the perturbed force field and the movement direction. The smoothness of the reaching movement is influenced by the presence of the force field and decreases when it is applied. Learning index showed the capability of the subjects to rapidly adapt to a perturbed force field, generating a compensation strategy in a 3D movement.
{"title":"A Novel Protocol for the Evaluation of Motor Learning in 3D Reching Tasks Using Novint Falcon","authors":"E. Scalona, F. Martelli, Z. Prete, E. Palermo, S. Rossi","doi":"10.1109/BIOROB.2018.8487735","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487735","url":null,"abstract":"Motor learning or motor adaptation is the capability to acquire new motor skills or the adaptation of existing motor skills to new environmental conditions. In this paper, a new protocol based on a low-cost haptic device for evaluating the motor adaptation during perturbed 3D reaching tasks was presented. The protocol consisted of three 3D reaching tasks performed using Novint Falcon: a familiarization task in which no force fieldwas applied, an adaptation task in which a perturbing force field occurred, and a wash out task with no force field. Ten healthy subjects were enrolled in the study. Subjects were asked to reach four targets equally distributed along a circumference. During the adaptation task, a constant force perpendicular to the direction of movement was applied and it was randomly removed 40 times out of 160. Trajectories of the end-effector were recorded to calculate the following kinematic indices: duration of movement, length ratio, lateral deviation, speed metric and normalized jerk. The learning index was calculated to study the motor learning during the adaptation task. Two-way repeated measure ANOVA tests were performed for all the indices considering movement directions and tasks as independent variables. Moreover, a one-way repeated measure ANOVA was performed on the learning index to find differences among the 4 target sets. The movement accuracy is influenced from both the perturbed force field and the movement direction. The smoothness of the reaching movement is influenced by the presence of the force field and decreases when it is applied. Learning index showed the capability of the subjects to rapidly adapt to a perturbed force field, generating a compensation strategy in a 3D movement.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130955135","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487217
Gareth Griffiths, P. Cross, S. Goldsworthy, B. Winstone, S. Dogramadzi
An estimated 6 million patients are treated for cancer each year using radiotherapy, an effective treatment that results in 40% of patients being cured [3]. In head and neck radiotherapy, patient positioning and immobilisation is a crucial part of accurate therapy delivery. A full head and shoulder thermoplastic mask is normally used to restrain the patient which brings discomfort and cannot adapt to patient's shape changes when losing weight. In this paper, we present a soft, pillow-shaped sensor capable of capturing head motion of the patient during radiotherapy. This motion capturing pillow (MCP) is the first step in creating a soft robotic device capable of sensing and re-positioning the head and neck during radiotherapy treatment. MCP performance in terms of repeatability and hysteresis has been tested with a 3D printed head and an ABB robot simulating the human head movements in 3 degrees of freedom.
{"title":"Motion Capture Pillow for Head-and-Neck Cancer Radiotherapy Treatment","authors":"Gareth Griffiths, P. Cross, S. Goldsworthy, B. Winstone, S. Dogramadzi","doi":"10.1109/BIOROB.2018.8487217","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487217","url":null,"abstract":"An estimated 6 million patients are treated for cancer each year using radiotherapy, an effective treatment that results in 40% of patients being cured [3]. In head and neck radiotherapy, patient positioning and immobilisation is a crucial part of accurate therapy delivery. A full head and shoulder thermoplastic mask is normally used to restrain the patient which brings discomfort and cannot adapt to patient's shape changes when losing weight. In this paper, we present a soft, pillow-shaped sensor capable of capturing head motion of the patient during radiotherapy. This motion capturing pillow (MCP) is the first step in creating a soft robotic device capable of sensing and re-positioning the head and neck during radiotherapy treatment. MCP performance in terms of repeatability and hysteresis has been tested with a 3D printed head and an ABB robot simulating the human head movements in 3 degrees of freedom.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126246470","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487673
Aldo Pastore, C. Pierella, F. Artoni, E. Pirondini, M. Coscia, M. Casadio, S. Micera
Robotics rehabilitation is a widely used approach for the treatment of patients with severe motor disabilities, such as stroke survivors. Robots can provide intense, controlled and repeatable rehabilitation and they can also provide different levels of assistance when patients are not able to initiate or complete a movement. Nevertheless, several studies proved that completely passive movements are not sufficient to stimulate neuro-motor recovery and patients' engagement is a key factor for an effective rehabilitation. For this reason it is important to combine techniques for detection of movement intention (MI) with rehabilitation robotics. In this study we developed an algorithm capable of detecting MI before the movement onset, in order to obtain a trigger signal for providing robotics assistance. The proposed algorithm automatically selects the channels used to extract MI based on the motor-information content of each channel. The developed algorithm was tested on data recorded on n = 8 healthy subjects performing 3D reaching movements with an exoskeleton in active and assisted conditions. MI was detected about 400 ms before the beginning of the movement and the performance of the proposed method were significantly higher than the one achieved when six preselected channels, located over motor areas, were used for MI decoding. MI was also detected during robot-assisted movements. Interestingly, in active movements the highest performance was achieved with electrodes over a well-localized cluster above the contralateral and central motor areas, while in passive executions, the areas with the best performances became more sparse.
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