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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...
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...
The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces...
Wireless medical ultrasound streaming is considered one of the emerging application within the broadband mobile healthcare domain. These applications are considered as bandwidth demanding services that required high data rates with acceptable diagnostic quality of the transmitted medical images. In this paper, we present the performance analysis of a medical ultrasound video streaming acquired via...
Anterior cruciate ligament (ACL) injuries have become more common in recent years as more young people participate in risky sporting activities. Most ACL injuries occur as a result of noncontact mechanisms. Previous in vitro studies of ACL strain have found significant increases in ACL strain primarily with anterior directed force on the tibia relative to the femur and with internal rotation and often...
Direct tracking is more robust than tracking that is based on additional markers. 3D laser scans can be used for direct tracking because they result in a 3D data set of surface points of the scanned object. For head-navigated robotized systems, it is crucial to know where the patient's head is positioned relatively to the robot. We present a novel method to use a 3D laserscanner for direct head navigation...
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)...
Tremor constitutes the most common movement disorder; in fact 14.5% of population between 50 to 89 years old suffers from it. Moreover, 65% of patients with upper limb tremor report disability when performing their activities of daily living (ADL). Unfortunately, 25% of patients do not respond to drugs or neurosurgery. In this regard, TREMOR project proposes functional compensation of upper limb tremors...
This paper presents the design of a direct driven under-actuated portable hand exoskeleton for rehabilitation. The design of the proposed Hand EXOskeleton SYStem (HEXOSYS) was driven by multi-objective optimisation strategy and inspiration from the human hand. The optimisation algorithm resulted in the choice of optimum link lengths of the device. The optimisation criteria are based on dexterity,...
This paper describes the synthesis of thermoresponsive hydrogel bead for the implementation of untethered medical microrobots and other microdevices. These entities will have magnetic nanoparticles embedded, and will be targeted inside the body with an adapted Magnetic Resonance Imaging (MRI) system, and then triggered by the application of an alternating magnetic field for various functions, including...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active...
Several systems have been proposed to objectively quantify the motor signs of Parkinson's disease. While validity has been investigated for a subset of these systems, test-retest reliability of automated assessments has been more neglected. We have created a protocol that uses a robotic system to measure force and position as the user performs tracking tasks with and without a simultaneous cognitive...
Combining non-invasive monitoring of action-related brain signals with the invasive recordings of the nerve motor output could provide robust natural and bidirectional multimodal Brain-Machine interfaces. One 26 years old, right-handed male who had suffered traumatic trans-radial amputation of the left arm was connected in a bidirectional way with a robotic hand prostheses. Cortical signals related...
The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography...
To harness the increased dexterity and sensing capabilities in advanced prosthetic device designs, amputees will require interfaces supported by novel forms of sensory feedback and novel control paradigms. We are using a motorized elbow brace to feed back grasp forces to the user in the form of extension torques about the elbow. This force display complements myoelectric control of grip closure in...
To enable compliant training modes with a rehabilitation robot, an important prerequisite is that any undesired human-robot interaction forces caused by robot dynamics must be avoided, either by an appropriate mechanical design or by compensating control strategies. Our recently proposed control scheme of “Generalized Elasticities” employs potential fields to compensate for robot dynamics, including...
The following topics are dealt with: medical signal processing; medical image processing; biomedical imaging; biosensors; chemical sensors; biomedical measurement; cardiology; haemodynamics; breathing; brain-computer interfaces; tissue engineering; medical robotics; and health care.
In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs...
This paper proposes a novel method for sensing obstacles and hand grasping activities in electromechanical arm prosthesis. The described method is based on indirectly sensing `Stall' condition in prosthesis actuators through hall-effect sensors already embedded on its dc motors, thus not requiring external sensors. To test the proposed methodology, an electromechanical arm prosthesis of 3 degrees...
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