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This project focuses on the development of robot-assisted stroke rehabilitation by implementing electromyography (EMG) as the interface between robot and user communication. Key issue in implementation of EMG in this application is conversion of EMG signal into torque data. This paper presents a methodology of EMG signal to estimated joint torque conversion by using genetic algorithm (GA). Basic principle...
This paper presents the initial work on implementing a simple control algorithm for a wearable orthotic glove using the myoelectric signals of a stroke patient as the input. The glove is used to assist in the rehabilitation of wrist and elbow. Surface myoelectric signals (MES) are acquired from the biceps brachii and the flexor carpi ulnaris. The MES is processed and temporal features are extracted...
Computer-based systems for stroke rehabilitation can potentially reduce complexity in rehabilitation processes. One of important issues among the rehabilitation systems is how to continuously evaluate patient's performances from such systems. Without a proper measurement for patient's performance, therapists suffer from accurate decision making in patient treatments. Therefore, the main focus of this...
Robot-assisted rehabilitation is an active area of research in the field of stroke rehabilitation. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. In this study, we described the structure of the controllers for the five degrees of freedom currently used by RUPERT. We applied the RUPERT on 6 stroke patients to provide robot-assisted rehabilitation therapy in a clinical...
A novel design of a hand functions task training robotic system was developed for the stroke rehabilitation. It detects the intention of hand opening or hand closing from the stroke person using the electromyography (EMG) signals measured from the hemiplegic side. This training system consists of an embedded controller and a robotic hand module. Each hand robot has 5 individual finger assemblies capable...
A non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in...
This paper presents experimental data evaluating the merits of using a fun and engaging therapy protocol over a less engaging one in the context of a low-cost robot/computer motivating rehabilitation system for stroke rehabilitation called TheraDrive. The preliminary results suggest that there is a small advantage of the engaging therapy over the rote therapy in reducing motor impairment, improving...
Different dose-matched, upper extremity rehabilitation training techniques, including robotic and non-robotic techniques, can result in similar improvement in movement ability after stroke, suggesting they may elicit a common drive for recovery. Here we report experimental results that support the hypothesis of a common drive, and develop a computational model of a putative neural mechanism for the...
Functional impairment of the upper limb is a major challenge faced by many stroke survivors. The present study aimed at developing a novel sensory-enhanced robot-aided motor training program and testing its feasibility in stroke rehabilitation. A specially designed robot handle was developed as an attachment to the Inmotion2 robotic system. This handle provided sensory stimulation through pins connected...
Stroke is one of the most disabling diseases that mankind has experienced. The disability caused after stroke can be effectively reduced when the patient is encouraged to undergo regular rehabilitation therapy.
Elinor is a game based tool for rehabilitation of stroke patients to be used in their home environment. The application is the result of a creative and exploratory development project in which researchers in the serious games area and experts in stroke rehabilitation collaborated in order to develop a motivating, easy to use and relatively inexpensive tool for relearning functions lost due to a stroke...
Motor performance of stroke patients and healthy individuals was compared in terms of selected kinematic features of arm and trunk movements while subjects reached for visual targets in virtual (VR) and physical (PH) environments. In PH, the targets were placed at an extended arm distance, while in VR comparably placed virtual targets were presented via GestureTek's IREX system. Our goal was to obtain...
The Mixed Reality Rehabilitation project is a real-time multimedia system for upper extremity rehabilitation of stroke survivors through task-oriented physical therapy. This poster describes the visual feedback designed to inform subjects of the spatial aspects of their movement as a reaching task is performed.
This presentation will describe our study which aims to examine the principles of technology-supported self management in the rehabilitation of stroke as a long term condition by integrating the mixed qualitative research and user-centered design methods.
After stroke, arm function can be limited by a reduction in the selectivity of movements, due to involuntary coupling of shoulder abduction and elbow flexion, limiting the ability to reach. Gravity compensation reduces the required active shoulder abduction torques, which results in a larger range of motion instantaneously. However, the effect of a longer-term application of gravity compensation on...
An overview is provided of the design, operation and performance of an experimental test facility that has been developed for stroke rehabilitation. The aim of the system is to improve sensory-motor function of the impaired upper limb, and it has recently been used in clinical trials with stroke participants. During treatment subjects were seated at the workstation and their impaired arm strapped...
Stroke is the main cause of disabilities in the world and is typically treated with intensive, hands-on physical and occupational therapy for several weeks after the initial injury. However, due to economic pressures, stroke patients are receiving less therapy and going home sooner, so the potential benefit of the therapy is not completely realized. Thus, it is important to develop rehabilitation...
This paper describes an initial study of non-invasive electroencephalograph (EEG)-based Brain Computer Interface (BCI) application on Stroke patients. The purpose of this study is to combine BCI and robotic arm for after-stroke rehabilitation exercises. A clinically-proven MANUS robotic rehabilitation shell is integrated with the NeuroComm BCI platform, whereby the robotic control mechanism is complemented...
One of the useful features of robotic rehabilitation is the possibility of movement quantification, which is currently lacking in conventional rehabilitation therapy. Movement performance measures calculated from this quantitative information serves various purposes - (a) a good supplement to clinical assessment measures, (b) can be more sensitive than many clinical measures which use ordinal scales...
The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limbpsilas motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties,...
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