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In this paper, we present a hand rehabilitation system for patients suffering from paralysis or contracture. It consist of two components: a hand rehabilitation machine, which moves human finger joints using motors, and a data glove, which enables controlling the movement of the finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation...
Evaluations for gait rehabilitation is difficult because gait parameters change with individuals and situations, such as walking speeds and step length. Doctors suggest proper rehabilitation programs for patients after performing initial clinical evaluations. For the use of design and control of the NaTUre-gaits (natural and tuneable rehabilitation gait system), this paper provides a clinical analysis...
To assist a large number of physically disabled people who no longer are in full possession of their body motion, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion since movement of shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. The proposed ExoRob will be comprised of seven degrees of freedom to enable...
Intelligent rehabilitation system has become a hot topic. In home rehabilitation system, the real-time tracking of human motion is very important. In this paper, it presents a modified CamShift (continuously adaptive mean shift) algorithm, which can track human limb motion in real time. Considering the limb motion and selected color probability distribution all together, we put forwards the modified...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
This paper presents three haptic-based virtual applications for the undergoing rehabilitation of upper-limb post stroke patients. The three exercises are developed for their use on the multi-modal interface so-called Bimanual Haptic Desktop System (BHDS), which integrates the haptic functionalities and Video Display Terminal (VDT) within the work-plane of a desk. Firstly, two basic exercises, tracking...
There are 10 to 20 millions polio survivors living around the world. Some of them cannot move their limbs by themselves. They feel inconveniences at several situations: climbing stairs; moving in a narrow space; walking. It is very difficult for polio survivors, who have permanent paralysis, to restore motor functions by using conventional rehabilitation approaches. Our aim is the assistance of motor...
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint...
This paper proposes motion instruction system with the interactive robot suit HAL (hybrid assistive limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearer's body, but also can be applied to motion instruction...
In this paper, we proposed a new concept for omnidirectional mobile robot that not only can fulfill the walking support or walking rehabilitation for the elderly or the disabled, but also can realize power assistance for the caregiver when he/she holds the robot handle to move the robot while the elderly or the disabled is sitting in the seat. We postulated four necessary functions the robot should...
A new rehabilitation and fitness robot called the ??Lambda Robot?? is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics. The kinematics and the construction aspects of the twice three degrees of...
Recently the needs for medical rehabilitation support systems are increasing in Japan, which use robot technology and virtual reality technology. Applying these technologies make efficient medical rehabilitation outcome. We have developed 6-degrees-of-freedom (DOF) upper extremity exercise system to evaluate synergy pattern an to exercise of upper extremity of stroke patients, named ??Robotherapist??...
Comparing with hip and knee, the design of exoskeleton ankle is much more difficult due to the strict requirements of smaller space, better rigidity and heavier load. A novel ankle exoskeleton with 3-RPS (Revolute- Prismatic-Spherical) parallel mechanism, which can fully sustain the heavy load of human body with good dynamic and kinematic performances, has been conducted to assist rehabilitation of...
The ankle represents one of the most complex bone structures in human body and the overall ankle motion is therefore complicate. In addition, motion analysis of ankle is a key issue in ankle rehabilitation and in developing an ankle rehabilitation device. Based on the analysis of the structure of ankle and its motion, this paper proposed two types of motion modes of ankle, according to the modes,...
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