IEEE ... International Conference on Rehabilitation Robotics : [proceedings]最新文献

Impaired hand function caused by neurological conditions, such as stroke, severely limits individuals' ability to perform daily tasks, highlighting the importance of accessible rehabilitation devices. Although the double grooved roller design in existing rope-driven exoskeletons reduces weight and enhances compactness, the different amount of change in the upper and lower traction cords when the fingers are flexed and torsioned can easily lead to slack and slippage of the traction cords, which affects the accuracy of movement. To address these limitations, a rope-driven exoskeleton system with a universal double grooved roller is designed for assisting finger movement based on a study of the index finger. In order to enhance the universal performance of the exoskeleton, in this study, 40 groups of index finger flexion and extension movements with upward and downward stretching are collected and statistically analyzed to find out the universal ratio of double grooved rollers. The experiment tested the finger-driving capability of the exoskeleton device, achieving a range of motion up to 94% of unassisted natural motion, with stable performance during repetitive movements. Additionally, the finger-driving success rate for seven subjects with varying finger sizes reached 100%, and the test results were analyzed in detail. The designed system demonstrates feasibility, reliability, and universality, offering a viable new solution for adaptive hand rehabilitation.

To ensure comfort and safety in the design of wearable robots, a multi-objective optimization method is defined for shoulder and elbow assistance. This optimization method is evaluated with a simulation platform implemented on Matlab integrating biomechanical features from the software OpenSim. Thus, the interaction forces between skin and cuffs and the metabolic cost could be estimated during design phase. Finally a drinking task trajectory is carried out to validate the efficiency of wearing an exosuit reducing the fatigue by 32%.

Proprioception assessment and training are theoretically important in stroke rehabilitation because proprioception impairment contributes to reduced upper extremity (UE) function and is a promising predictor of the effectiveness of movement therapy. Currently, however, there are few tools available for home-based monitoring and training of proprioception. Here, we describe three tools that we are developing for UE proprioception rehabilitation that are suitable for home use. OpenPoint uses a webcam to automate UE proprioception assessment via a classic neurologic test: finger-to-finger pointing. Proprio gamifies proprioception training by embedding the finger-to-finger pointing test within a video game similar to GuitarHero. Diversify is an app on a smartwatch that provides feedback about the diversity of arm proprioceptive states associated with the variety of arm postures that an individual experiences throughout the day. We describe here the design of each system as well as preliminary testing results.

Stroke survivors often experience severe gait impairments that reduce mobility and independence, highlighting the need for innovative and practical rehabilitation solutions. Many existing devices are limited by their high cost, complexity, or invasive nature, making them inadequate for widespread use in clinical and athome settings. To address these challenges, we introduce the LegExoNET, a passive lower-limb exoskeleton capable of providing both assistance and resistance in ankle dorsiflexion and plantarflexion. During mechanical testing, the torques applied by the device decrease nonlinearly with a decrease in ankle angle. The device's lightweight, modular design ensures versatility and accessibility, establishing the LegExoNET as a promising tool for enhancing gait rehabilitation and promoting motor learning. Future work will include expanding to a multi-joint device while incorporating additional functions such as leg propulsion assistance.

Lower-limb amputees require ankle-foot prostheses with adjustable stiffness and energy return timing to adapt to varying walking speeds, as well as adequate ankle push-off power to propel the body forward. Most passive prostheses utilize energy storage and return with carbon fiber blades (CFBs), but their single stiffness and early energy return timing limit their effectiveness for propulsion. Quasi-active or powered prostheses with CFBs also fail to fully utilize the energy storage and return capabilities of the CFB. As a result, many quasiactive prostheses lack precise energy return timing, while powered prostheses rely on large motors or bulky hydraulic cylinders. In this paper, we present the Pneumatic and Hydraulic Hybrid Prosthesis (PHHP), designed to adjust stiffness and energy return timing. The system leverages the compressible and incompressible properties of pneumatic and hydraulic systems to enable both stiffness adjustment and stored energy delivery timing. The PHHP includes three pneumatic chambers of varying sizes that adjust the resistance of a hydraulic cylinder by turning valves on and off, enabling variable stiffness. The hydraulic cylinder stores energy from the carbon fiber foot's deformation and releases it for push-off assistance via a hydraulic valve. Theoretical and experimental results show the PHHP's potential for push-off assistance and variable stiffness (24.3-54 N/mm), making it adaptable to different walking speeds for lower-limb amputees.

Finger individuation, the ability to independently control fingers, is a critical component of hand function that is often impaired in people with neurological conditions. To address the need for sensitive tools to measure finger individuation in clinical and research settings, an assessment device was developed and tested. Equipped with force sensors under each finger, an individuation index (IndX) in both flexion and extension was calculated. Feasibility of the device was assessed by measuring able-bodied participants and neurological patients. The reliability of the finger individuation assessments was evaluated in a test-retest setting, showing high consistency, with Intraclass Correlation Coefficients (ICC) and Spearman correlation classified as moderate to excellent (ICC for flexion of thumb: 0.73, $p < 0.001$: index: 0.68, $p < 0.001$: middle: 0.48, $p=0.003$; ring: 0.72, $p < 0.001$; little: 0.80, $p < 0.001$). Validity was further examined by comparing the IndX across fingers and between groups, utilizing t-tests and the Area Under the Curve (AUC) from Receiver Operating Characteristic analysis. Although AUC values indicated a mixed discriminative ability, the device successfully captured differences in finger control between able-bodied individuals and patients. These results indicate that the device offers a reliable and effective means of quantifying finger individuation, opening the door to advanced fine hand motor control research and through that, personalized rehabilitation.

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion environments. In this work, we present a novel control strategy that adapts the mechanical impedance of the humanexoskeleton system. We design the hip assistive torques as an adaptive virtual negative damping, which is able to inject energy into the system while allowing the users to remain in control and contribute voluntarily to the movements. Experiments with five healthy subjects demonstrate that our controller reduces the metabolic cost of walking compared to free walking (average reduction of 7.2 %), and it preserves the lower-limbs kinematics. Additionally, our method achieves minimal power losses from the exoskeleton across the entire gait cycle (less than 2 % negative mechanical power out of the total power), ensuring synchronized action with the users' movements. Moreover, we use Bayesian Optimization to adapt the assistance strength and allow for seamless adaptation and transitions across multiterrain environments. Our strategy achieves efficient power transmission under all conditions. Our approach demonstrates an individualized, adaptable, and straightforward controller for hip exoskeletons, advancing the development of viable, adaptive, and user-dependent control laws.

Artificial hands are developed and employed widely for solving challenges in present-day robotics, with an increasing number of such systems being integrated into our daily lives. For humanoid or human-centric applications in medical or industrial sectors demanding increased naturality, biomimetics offers a promising approach. However, replicating biological structures and functions to the detail commonly results in excessive complexity in both design and production, preventing widespread adoption. This work presents a biomimetic hand developed with the use of modern procedural design methods and additive and textile production technologies, evaluated with a modular actuator frame through grasp and gesture demonstrations and finger trajectory analysis. The results aim to exemplify how leveraging these advancements may enable the creation of naturally compliant robotic devices with intricate functionality, while simultaneously satisfying the industrial requirements for robustness, cost-effectiveness and production scalability, therefore bringing the universal applicability of such systems within reach.

Traditional medical diagnostics heavily rely on the subjective expertise of physicians during palpation procedures, where muscles or tissues are examined by manually applying pressure. This work presents a robotic solution using a KUKA iiwa 14 R820 to replicate this diagnostic technique, for addressing the physician shortage, enhancing physician training, and integrating robotic arms into diagnostics. We emulate the palpation process, measure and analyze the forces applied by the robot on a test bench, and compare the uncertainty with palpation forces applied by physicians and the palpometer. As pain perception during palpation can indicate potential underlying conditions, we further incorporate a pain equivalence measurement into our system using a hand grip force sensor, completing it by developing a graphical user interface for visualization and control. Our results indicate that, while errors within the robot dominate the accuracy of the force application, a well-chosen robot configuration achieves comparable force application errors at typical palpation forces of approximately 5 N, 10 N, and 20 N. The resulting maximum errors are 1.24 N, 0.67 N, and 0.565 N, respectively, which are smaller for both larger forces than the palpation uncertainties of trained physicians. Our findings demonstrate that robotic systems can effectively emulate and refine palpation techniques, providing a foundation for their broader adoption in healthcare.

Manual wheelchair users are prone to a more sedentary lifestyle due to their limited mobility and, therefore, decreased cardiovascular health. Regular assessment of their cardiovascular fitness can help with appropriate interventions and overall improvement in their quality of life. One way of assessing cardiovascular health of manual wheelchair users is the 6 -minute push test (6MPT), adapted from the 6 -minute walk test. In this study, 5 novice and 5 expert wheelchair users performed the 6MPT while wearing a heart rate monitor and $text{VO}_{2}$ mask. Significant correlation ($mathrm{r}=0.685, mathrm{p}=0.029$) was found between the distance completed and the max value of the $text{VO}_{2}$ recorded during the 6MPT. Additionally, a linear regression model was constructed and found statistically significant $(mathrm{F}(1,8)=22.3, mathrm{p}=0.0015)$. The model can serve clinicians as a convenient and direct indicator of cardiovascular fitness for manual wheelchair users without the need of additional heartrate sensors or $text{VO}_{2}$ mask.