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This work presents a new shoulder-elbow exoskeleton (NESM) for upper-limb neurological rehabilitation. The system has four active degrees of freedom, namely shoulder adduction/abduction, flexion/extension and intra/extra rotation and elbow flexion/extension, together with eight additional passive degrees of freedom for the alignment of the motor axes to the human joint axes, regardless the user's...
We present an automated segmentation method based on the analysis of plantar pressure signals recorded from two synchronized wireless foot insoles. Given the strict limits on computational power and power consumption typical of wearable electronic components, our aim is to investigate the capability of a Hidden Markov Model machine-learning method, to detect gait phases with different levels of complexity...
We present an automated gait segmentation method based on the analysis of foot plantar pressure patterns elaborated from two wireless pressure-sensitive insoles. The 64 pressure signals recorded by each device are elaborated to extract 10 feature variables which are used to segment the gait cycle into 6 sub-phases following a simplified version of Perry's gait model. The method is based on a Hidden...
In this work, we present the development of an in-shoe device to monitor plantar pressure distribution for gait analysis. The device consists in a matrix of 64 sensitive elements, integrated with in-shoe electronics and battery which provide an high-frequency data acquisition, wireless transmission and an average autonomy of 7 hours in continuous working mode. The device is presented along with its...
Electromyography (EMG) has been frequently proposed as the driving signal for controlling powered exoskeletons. Lot of effort has been spent to design accurate algorithms for muscular torque estimation, while very few studies attempted to understand to what extent an accurate torque estimate is indeed necessary to provide effective movement assistance through powered exoskeletons. In this study, we...
A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor...
This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design of...
This work describes the neuro-robotics paradigm: the fusion of neuroscience and robotics. The fusion of neuroscience and robotics, called neuro-robotics, is fundamental to develop robotic systems to be used in functional support, personal assistance and neuro-rehabilitation. While usually the robotic device is considered as a ldquotoolrdquo for neuroscientific studies, a breakthrough is obtained if...
This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on...
This paper presents the development of new transmission components and position controller of the NEURARM hydraulic actuation unit as critical components of a novel robotic arm specifically designed to perform joint experiments between neuroscience and robotics. NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements like reaching and catching,...
We present an incremental approach to the migration of non decomposable COBOL applications to a Web-enabled multi-tier architecture. The relevant software components of the target architecture, namely the communication middleware and the generator of graphical user interfaces, are developed once for all in order to reduce the migration effort. An Eclipse plug-in has also been developed to support...
Muscle activity recorded non-invasively is sufficient to control a mobile robot if it is used in combination with an algorithm for its asynchronous analysis. In this paper, we show that several subjects successfully can control the movements of a robot in a structured environment made up of six rooms by contracting two different muscles using a simple algorithm. After a small training period, subjects...
Muscle activity recorded non-invasively is sufficient to control a mobile robot if it is used in combination with an algorithm for its asynchronous analysis. In this paper, we show that several subjects successfully can control the movements of a robot in a structured environment made up of six rooms by contracting two different muscles using a simple algorithm. After a small training period, subjects...
Muscle activity recorded non-invasively is sufficient to control a mobile robot if it is used in combination with an algorithm for its asynchronous analysis. In this paper, we show that several subjects successfully can control the movements of a robot in a structured environment made up of six rooms by contracting two different muscles using a simple algorithm. After a small training period, subjects...
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