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Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform daily living activities. We have been developing an exoskeleton robot for ET patients. We make use of the electromyogram (EMG) signal to control this robot. However,...
There are many applications for which a patient needs functional compensation due to motor disorders in daily activities. Classic research has focused on robotics solutions in terms of actuators or motors, but the point of this paper is to analyze new solutions combining both biological and artificial structures, in order to improve standard developments. Nowadays wearable Robots are taking an important...
Analyzing activities of daily living (ADL) for the development of practical upper limb rehabilitation robots is challenging in stroke patients. Basic ADL tasks using an upper limb are defined based on clinical assessment tools. The motions of 8 healthy participants and 8 stroke patients were recorded during defined ADL tasks, and then analyzed with respect to completion time, linearity of motion,...
In this study, a robotic orthotic device with one degree of freedom was used for assessment of individuals with chronic stroke and resultant hemiparesis. The specific aim was to investigate the effect of visual feedback distortion on range of motion (ROM) at the elbow and wrist joints as measured by the Arm IntelliStretch platform from Rehabtek LLC. It was hypothesized that introducing visual feedback...
The seven degree of freedom arm model is widely used in robotics, computer graphics, and much more. For wearable robotic systems, which are subject to joint limits, it is desirable to relate the joint limits to the redundantly of the system. A brief review of the arm model, redundant space and kinematics is presented. Following this review a closed form method is developed calculate the interval of...
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...
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