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During the last decades, many robotic platforms aimed at post-stroke neurorehabilitation of locomotion have been developed. These devices have been designed to enhance the possibilities of conventional rehabilitation providing safe, highly accurate, intensive and prolonged treatments. Nevertheless, up to now, robotic aided therapy has not yet promoted improvements of the motor performance significantly...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
Robot-assisted rehabilitation is an active area of research in the field of stroke rehabilitation. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. In this study, we described the structure of the controllers for the five degrees of freedom currently used by RUPERT. We applied the RUPERT on 6 stroke patients to provide robot-assisted rehabilitation therapy in a clinical...
This paper proposes a real-time processing algorithm which estimates a subject knee moments using some joint angle data and EMGs of involved muscles. This algorithm will be essential part for the control system design of exoskeletal robotic devices. In order for this algorithm to accurately predict joint moments, it is necessary to know the one's musculo-skeletal properties, which is virtually impossible...
During laparoscopic surgery, grasping of large body organs such as spleen, kidney, and liver, is a difficult task using conventional instruments. This paper describes the design and analysis of a novel actuated endoscopic grasper for manipulation of large internal organs. The designed instrument resembles a miniaturized three fingered hand with each finger consisting of two links. It could pass through...
Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper...
Numerous haptic devices have been developed for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. In this paper we describe a variable structure pantograph mechanism that produces a versatile rehabilitation robot for movement training of the shoulder, elbow, and wrist. The device has three operational modes: ARM, REACH...
A functional electrical stimulation (FES)-robot system controlled by subjects' motor intention was developed in our previous study. The effectiveness of the FES-robot on wrist training was investigated in this work. Five hemiplegic subjects with chronic stroke were recruited for an FES-robot assisted wrist training with 20 sessions. After the training, motor improvements were found in the wrist and...
This paper bispectrum is used to classify human arm movements and control a robotic arm based on upper limb's surface electromyogram signals (sEMG). We use bispectrum based on third-order cumulant to parameterize sEMG signals and classify elbow flexion and extension, forearm pronation and supination, and rest states by an artificial neural network (ANN). Finally, a robotic manipulator is controlled...
This paper presents the development of new prismatic actuation approach and its application in human-safe humanoid head design. To reduce actuator output impedance and mitigate unexpected external shock, the prismatic actuation method uses cables to drive a piston with preloaded spring. By leveraging the advantages of parallel manipulator and cable-driven mechanism, the developed neck has a parallel...
Non-anthropomorphic wearable robots (WRs) give good grounds for expecting advantageous performances over traditional anthropomorphic solutions from both the standpoints of ergonomics and of the dynamical interaction with the human body. However, the kinematic design of non-anthropomorphic WRs can be too challenging for conventional synthesis methods, due to the large number of open design parameters...
In this paper a bio-inspired control architecture for a robotic hand is presented. It relies on the same mechanisms of learning inverse internal models studied in humans. The control is capable of developing an internal representation of the hand interacting with the environment and updating it by means of the interaction forces that arise during contact. The learning paradigm exploits LWPR networks,...
The design of robots required to work in the close vicinity or physically interact with humans such as humanoids machines, rehabilitation or human performance augmentation systems should not follow the traditional design rule `stiffer is better'. Safety is a particularly vital concern in these systems and to maximize it a different design approach should be used. The role of compliance in improving...
This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm. The user provides information signals to the controller...
The current study introduces a novel rehabilitation robot for treatment of impaired ankle in children with cerebral palsy (CP). The treatment consisted of passive stretching under intelligent control and active movement training with motivating game-playing using the portable robot. After 18 sessions of training (3 sessions/week for 6 weeks), we found significant improvement in 12 children with CP...
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