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The motor recovery procedure of chronic stroke during robot-assisted training has not been well studied previously. In this work, we analyzed the variations in the coactivating patterns of elbow and shoulder muscles (biceps, triceps lateral, anterior deltoid, and posterior deltoid) in hemiplegic persons with chronic stroke (n=4) during a 20-session's interactive robot-assisted treatment. Significant...
The use of robotic gait training systems has become commonplace world-wide. In particular, the Lokomat robotic orthosis (Hocoma AG, Volketswil, Switzerland) is in use at nearly 75 facilities treating patients with spinal cord injury, stroke, and other neurological impairments. Despite the extensive use of the device, no studies have reported the leg kinematic trajectories while walking in the device...
In this study, a myoelectrically controlled robotic system with one degree of freedom was developed to assist elbow training in the horizontal plane for patients after stroke. The system could provide assistive extension torque which was proportional to the amplitude of the subject's processed and normalized electromyograhpic (EMG) signal from triceps. The system also provided different resistive...
This study investigates the human response to impulse perturbations at the midpoint of a haptically-guided straight-line point-to-point movement. Such perturbation response may be used as an assessment tool during robot-mediated neuro-rehabilitation therapy. Subjects show variety in their perturbation responses. Movements with a lower perturbation displacement exhibit high frequency oscillations,...
We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES, motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved
This paper suggests that the optimal method for promoting of the recovery of upper extremity function in hemiplegic individuals is the use of hybrid assistive systems (HAS). The suggested HAS is a combination of stimulation of paralyzed distal segments (hand) in synchrony with robot controlled movements of proximal segments (upper arm and forearm). The use of HAS is envisioned as part of voluntary...
This paper suggests that the optimal method for promoting of the recovery of upper extremity function in hemiplegic individuals is the use of hybrid assistive systems (HAS). The suggested HAS is a combination of stimulation of paralyzed distal segments (hand) in synchrony with robot controlled movements of proximal segments (upper arm and forearm). The use of HAS is envisioned as part of voluntary...
Body-weight supported treadmill training following neurological disorders such as stroke and spinal cord injuries (SCI) has become an integral part of rehabilitation for treating gait disorders. Unfortunately techniques for selecting important training parameters, such as walking speed and body-weight support, have not been established. Here we present a 3-D inverse-dynamics based approach for evaluating...
We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES, motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved
This study investigates the human response to impulse perturbations at the midpoint of a haptically-guided straight-line point-to-point movement. Such perturbation response may be used as an assessment tool during robot-mediated neuro-rehabilitation therapy. Subjects show variety in their perturbation responses. Movements with a lower perturbation displacement exhibit high frequency oscillations,...
The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller...
The use of robotic gait training systems has become commonplace world-wide. In particular, the Lokomat robotic orthosis (Hocoma AG, Volketswil, Switzerland) is in use at nearly 75 facilities treating patients with spinal cord injury, stroke, and other neurological impairments. Despite the extensive use of the device, no studies have reported the leg kinematic trajectories while walking in the device...
We examine robotic rehabilitation and assessment of spinalized rats, using robot applied forces at the pelvis, as a prelude to a neurorobotic BMI. Using a surgically implanted pelvic orthosis, a cantilevered phantom robot is attached to the rat pelvis. An isotropic elastic field of constant stiffness is applied and the equilibrium is adjusted to provide a `natural' trunk posture. Rats are trained...
Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed...
A key challenge in rehabilitation robotics is the development of a lightweight, large force, high degrees-of-freedom device that can assist in functional rehabilitation of the arm. Pneumatic actuators can potentially help meet this challenge because of their high power-to-weight ratio. They are currently not widely used for rehabilitation robotics because they are difficult to control. This paper...
In this study, a myoelectrically controlled robotic system with one degree of freedom was developed to assist elbow training in the horizontal plane for patients after stroke. The system could provide assistive extension torque which was proportional to the amplitude of the subject's processed and normalized electromyograhpic (EMG) signal from triceps. The system also provided different resistive...
Learned nonuse is often seen in stroke survivors with hemiparesis. In these cases, stroke survivors exhibit a bias for using the less impaired arm on daily living tasks despite latent functionality as measured by clinical motor function. We used the TheraDrive system, a low-cost, stroke rehabilitation system using commercial force-feedback steering wheels along with unimanual and bimanual steering...
The motor recovery procedure of chronic stroke during robot-assisted training has not been well studied previously. In this work, we analyzed the variations in the coactivating patterns of elbow and shoulder muscles (biceps, triceps lateral, anterior deltoid, and posterior deltoid) in hemiplegic persons with chronic stroke (n=4) during a 20-session's interactive robot-assisted treatment. Significant...
The effect of gravity increases the expression elbow/shoulder synergy patterns results in discoordination during movements following stroke. The Arm Coordination Training 3-D (ACT3D) robotic system is a novel way of recording movement patterns while a subject generates varying amounts of shoulder abduction torque. This system is used to provide preliminary data that show reduced elbow extension and...
We examine robotic rehabilitation and assessment of spinalized rats, using robot applied forces at the pelvis, as a prelude to a neurorobotic BMI. Using a surgically implanted pelvic orthosis, a cantilevered phantom robot is attached to the rat pelvis. An isotropic elastic field of constant stiffness is applied and the equilibrium is adjusted to provide a `natural' trunk posture. Rats are trained...
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