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A wireless architecture of posturographic plate, conceived as a physical interface between the patient at home and a semi-immersive virtual environment of telerehabilitation exergaming, is proposed. The design is aimed at maximizing cost reduction as well as hardware and software flexibility, for integrating third-party rehabilitation applications with the exergaming-oriented approach in a telemedicine...
The Intuitive Leg Assist Device (I-LAD) is designed to address a demographic of people with lower extremity weakness. It optimizes cost, weight, and functionality, and provides the power and support needed to perform natural ambulation. The design mimics the human gait cycle by coupling the actuation of the knee and hip via a dual four-bar linkage system modified from a crank rocker system, with a...
Rehabilitation robotics specializes in designing machines, such as exoskeletons, which can be utilized to restore function in patients recovering from physical trauma. The proposed Assistive Rehabilitation Arm Orthosis (A.R.A.O.) is designed to restore function and rehabilitate patients suffering from muscular diseases as well as mild-stroke. Clinical studies have shown that task-based repetitive...
This paper was focused on iShoe, a device used for balancing. This device was designed for patient rehabilitation that would operate safely in home of elderly or recovering patient. This device was comprise of wearable device such as force sensor, assistive device such as walker, and environmental sensor. Topics on design such as Tekscan's FlexiForce sensor, force sensor, accelerometer, PC interfacing,...
Stroke patients and so on can't use their hands because of the paralysis of their fingers. Their fingers can be recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used the object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching...
An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force...
Bilateral movement training for the upper extremity rehabilitation is attracting a lot of attention. In this paper, we investigated the relationship between left and right of the human body system(human mirror-image) using robotic force field for planning effective bimanual movement training of upper limb rehabilitation. We use two robot manipulators and force/torque sensors to realize the force field,...
The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator...
The number of hemiplegic patients with a unilateral-disabled limb has been increasing globally, this stimulate the development of rehabilitation robots that assist patients in motor function recovery and strength enhancement. However, as yet, few robots have achieved self-controlled rehabilitation training, and force feedback is generally realized with force sensors. This paper introduces a self-controlled...
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...
In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study,...
We have developed a new wireless breathing-training support system for kinesitherapy. The system consists of an optical sensor, an accelerometer, a microcontroller, a Bluetooth module and a laptop computer. The optical sensor, which is attached to the patient's chest, measures chest circumference. The low frequency components of circumference are mainly generated by breathing. The optical sensor outputs...
Various authors have described pre and post testing improvements in upper limb coordination as a result of intensive upper limb interventions. While the ability to alter coordination patterns as a result of repetitive hand-arm movement is established, patterns of change in the relationship between proximal and distal effectors of the UE over the course of multiple sessions of training have not been...
People of all ages have suffered impairment in traffic accidents or sport accidents, and these individuals worry about dysfunction of their upper limbs, but they can recover from dysfunction by rehabilitation. In this study, we developed an assistive robot for upper limb movement that has high rehabilitation effectiveness. To achieve this, we proposed a reaching movement support method that considers...
A bidirectional force feedback dataglove actuated by pneumatic artificial muscles is introduced which has simpler exoskeleton structure and exerts bidirectional force only on the fingertips. Moreover, its fewer attachments can reduce the effect of the attachment looseness on the accuracy of position and force control. It meets all needs of virtual reality and the requirement of hand rehabilitation...
An innovative bilateral master-slave control method for an upper limb rehabilitation robot system which can afford training for hemiplegic patients is introduced. The system consists of two identical motors with the master motor working in the generating state and the slave motor working in the electro motion state. Based on hemi-disabled characteristic of hemiplegic patients, the healthy limb is...
This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing application flexibility. Experimental results of...
In recent years, many researchers have studied on the rehabilitation robotics to assist medical staff or patients. Some kinds of haptic devices have been developed and evaluated its efficiency with clinical tests, for example, upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion except for wrists....
The static coupling of six-dimension force sensor for walker dynamometer system is a key factor to limit its measuring precision. A new decoupling method based on artificial neural network is proposed in this paper. Relevant error check results shows that, after the calibration by using the back propagation neural network and radial basis function neural networks, the maximal system precision error...
Physical therapy is a process that applies to more than one million people every year to regain movement in upper extremities. This process requires, in addition to exercise, a strong motivation to achieve the desired results. Studies have shown that the exercises based on the use of robots and computer-simulated systems provide better motivation for patients, making them adhere to therapy and further...
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