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Background The assessment and treatment of writer’s cramp is complicated due to the variations in the forces and angles of involved joints. Additionally, in some cases compensatory movements for cramp relief further complicates assessment. Currently these variables are subjectively measured with clinical scales and visual assessments. This subjectivity makes it difficult to successfully administer...
In this paper, a new passivity-based technique is proposed to analyze and guarantee the stability of haptics-enabled telerobotic rehabilitation systems where there is a possibility of having more sources of non-passivity than communication delays. In practice, the difficulty of therapeutic exercises should be tuned taking into account the stage of physical disability. However, tuning the difficulty...
This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and...
This paper presents a Therapist-in-the-Loop (TIL) framework for robotics-assisted mirror rehabilitation therapy integrated with adaptive Assist-as-Needed (ANN) training, to be adjusted based on the impairment and disability level of the patient's affected limb. Closed-loop system stability has been investigated using a combination of the Circle Criterion and the Small-Gain Theorem to account both...
In this paper, a novel tool is suggested which allows to simultaneously record arm joint angles and the applied forces of patients with writer's cramp during the performance of multiple writing and drawing tasks. The presented tool identifies the role of the upper limb joints and exerted forces once a cramping event happens. Over the past decade different kinematic analyses have been introduced in...
In this paper, a novel robotics-assisted rehabilitation framework is proposed for bilateral mirror-image therapy. For this purpose, a customized dual-user teleoperation architecture is designed incorporating Guidance Virtual Fixtures (GVFs) to deliver the appropriate therapeutic movements to the patient's impaired limb by providing an assist-as-needed treatment strategy. In addition, the therapist...
In this paper, a safety concern arising from pathological tremors in patients interacting with haptics-enabled rehabilitation robots is analyzed and the issue of tremor amplification for assistive/coordinative robotic rehabilitation is investigated. In order to deal with this issue, a control architecture is proposed to dissipate the extra energy of the system and guarantee its stability and safety...
In this paper the issue of kinematic instability for concentric tube robots is studied when the following two conditions are considered: (a) the robot consists of more than two concentric tubes, and (b) the tubes consist of straight sections followed by curved sections. In this paper, we use the term “kinematic instability” when the tip position of robot in the Cartesian domain jumps from one equilibrium...
This paper proposes an expertise-oriented training platform for robotics-assisted minimally invasive surgery. The framework builds on previous work of the authors and makes use of dual-user teleoperation scenario, allowing the presence of an expert in the training loop. A Fuzzy-Logic (FL) methodology is proposed, which specifies the level/mode of the training required for the trainee according to...
Writer's cramp, a task specific dystonia is felt to be a disorder of sensorimotor integration involving the basal ganglia and cortex. Motivated by this fact, in the present study we investigated the effects of haptic and visual sensory inputs on cramp severity and frequency during a trial. For this goal seven subjects with writer's cramp disease were asked to perform the trial, which included writing,...
In this study, kinematic characteristics of writing are compared in 5 patients with writer's cramp who performed a set of standardized writing tasks. The kinematic characteristics include upper limb joint angles, vertical hand pressure, and finger grip force. The effect of writing on different inclined supporting surfaces is also investigated. Our results indicate that altering upper limb posture...
The problem of designing of a haptics-enabled teleoperated rehabilitation system in the presence of communication delays is addressed. In a teleoperated rehabilitation system, communication delays introduce phase shift which may result in the task inversion phenomenon. To overcome the task inversion, a new type of projection-based force reflection algorithm is proposed which is suitable for assistive/resistive...
This paper proposes a teleoperated dual-user system incorporating Virtual Fixtures (VFs) that allows concurrent performance of a robotic surgical task by an expert and a trainee. In order to guide the trainee through the procedure, an adaptive VF is created in the trainee's workspace according to the motion generated by the expert who is performing the surgery at the same time. The VF gets adaptively...
In this paper, a robotic solution is proposed to deal with the challenges caused by lung motion during needle insertion. To accomplish this goal, a macro-micro robotic tool is designed to compensate for tissue motion using the macro part, while performing the needle insertion independently with the micro part. The main application of this work is for robotics-assisted lung tumor biopsy, where the...
This paper focuses on control challenges caused by the slave-arm flexibility in master-slave telerobotic systems. Apart from time delay, the nonlinear non-minimum phase deflection of flexible-link slave manipulators creates extra challenges for control of telerobotic systems. These challenges have forced most of the prior research to use basic simplifications. In this paper, we try to remove most...
In master-slave teleoperator systems used for tele-rehabilitation purposes, the passivity can be violated because of the assistive actions of a therapist; moreover, any type of passivation approach to the design of such a system would defeat the purpose of the assistive therapy. In this paper, a design framework is presented that does not rely on passivity considerations. A number of results are given...
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