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The modeling of needle insertion into tissues is important for simulation of this procedure and for robotic technologies applied to percutaneous therapy. In this article, we present a first attempt to develop a general force model for the needle insertion throw different tissue layers (skin, fat and muscle) to reach an internal organ (the liver, for instance) with objectives of control, looking for...
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...
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...
This work describes a novel form of robotic therapy for the upper extremity in chronic stroke. Based on previous results, we hypothesized that a training task that encourages subjects to consciously guide endpoint forces generated by the hemiparetic arm will result in significant gains in functional ability of the arm, superior to more conventional methods of therapy. In addition, since stroke survivors...
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