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Several studies support the hypothesis that robot assisted therapy for adult subjects with motor impairments resulting from neurological damages can be beneficial in promoting the recovery process when conveyed in conjunction to conventional rehabilitation. Robotic therapy has been mainly applied to adult subjects and little is known about children or youth. This study presents the results of a robot-assisted...
<?Pub Dtl?>Despite distal arm impairment after brain injury is an extremely disabling consequence of neurological damage, most studies on robotic therapy are mainly focused on recovery of proximal upper limb motor functions, routing the major efforts in rehabilitation to shoulder and elbow joints. In the present study we developed a novel therapeutic protocol aimed at restoring wrist functionality...
Human arm muscular stiffness measurement is often a complex procedure which is of great interest for many disciplines from biomechanics to medicine and robotics. Modulation of impedance represents the principal mechanism underlying control of movements and interaction with external environment. Past literature proposed several methods to estimate multijoint hand stiffness while postural maintaining...
The goal of this study is to better understand how the central nervous system chooses a stable control strategy when presented with an unstable task. A haptic, bimanual manipulandum has been used to implement an unstable task, which requires subjects to stabilize a mass-load under the action of a saddle force field with two non-linear springs, whose stiffness increases when stretched. Subjects learn...
This paper aims to investigate how robotic devices can be used to understand the mechanism of sensorimotor adaptation in pediatric subjects affected by hemiparetic cerebral palsy. Previous studies showed how healthy adults, after training in presence of a systematic structured disturbing force field, show an “after effect” and therefore they highly adapt and compensate the external disturbance. An...
The subjective ease with which we move gracefully in constraint filled uncertain environments often masks the enormously complex integrative apparatus needed to spell synergy among the thousands of sensors, joints, musculo-skeletal units and neuronal populations that contribute to any act's planning and execution. In this paper, we apply the computational framework of passive motion paradigm for task...
This study investigates a dual task: 1) visuo-manual tracking of a target moving on an eight-shaped trajectory and 2) compensation of a robot-generated, motion-dependent force field. The target speed is dependent on the tracking error, in such a way that the task difficulty increases as tracking performance improves. The results show that although non trivial this dual-task protocol can be learned...
A bimanual haptic robot was used to investigate how bimanual coordinated reaching movements are affected by the adaptation to two viscous curl force fields that were applied to the two hands. The workspace and the target sets for each hand were the same. The two force fields could be directed in the same way (for a group of 7 right-handed subjects) or in opposite directions (for another equivalent...
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