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In the context of post-stroke patients, suffering of hemiparesis of the hand, robot-aided neuro-motor rehabilitation allows for intensive rehabilitation treatments and quantitative evaluation of patients' progresses. This work presents the design and evaluation of a spring actuated finger exoskeleton. In particular, the spring variables and the interaction forces between the assembly and the hand...
Executing coordinated movements requires that motor and sensory systems cooperate to achieve a motor goal. Impairment of either system may lead to unstable and/or inaccurate movements. In rehabilitation training, however, most approaches have focused on the motor aspects of the control loop. We are examining mechanisms that may enhance the sensory system to improve motor control. More precisely, the...
In this article, the design and implementation of a 10 Degree-of-Freedom (DoF) human-inspired two-arm robot is presented. Multiple Pneumatic Artificial Muscles (PAMs) in antagonistic formations are incorporated for undertaking the two arms' movements, while the design goal is the replication of human-like motion patterns, described by smoothness, inherent compliance and accuracy. To evaluate the feasibility...
This paper presents a new device for a novel neurorehabilitation strategy for stroke patients suffering from upper limb paralysis. The concept consists in combining illusory movements, induced by tendon vibration on the hand and wrist, with a virtual reality visualization of the hand to support the positive effects of motor imagery reported in the literature. The aim is to induce and support plastic...
For an anthropomorphic arm-hand robot, grasping and in-hand manipulating an object can be realized with numerous approach trajectories and grasping configurations. The redundancy at this level of the tasks is due to a large number of degrees-of-freedom (DOFs) of the arm-hand system. This redundancy constitutes a big challenge to the planning and control tasks of the robot. For this kind of tasks,...
A musculoskeletal model of wrist flexors comprising musculoskeletal dynamics and limb anatomy was experimentally validated with healthy subjects during maximum voluntary contractions. Electromyography signals recorded from flexors were used as input, while measured torques exerted by the hand were compared to the torques predicted by the model. The root mean square error and the normalized root mean...
In this paper, a strategy for pathological tremor compensation based on co-contraction of antagonist muscles induced by Functional Electrical Stimulation (FES) is presented. Although one of the simplest alternatives to apply FES for reducing the effects of tremor, the contribution of different co- contraction levels for joint motion and impedance must be accurately estimated, specially since tremor...
A stable wrist position is achieved through a balance of forces in muscles acting around the wrist. If a tendon and/or muscle is disabled or functionally altered in any way the balance is disturbed, usually resulting in impaired position control of the wrist. In some cases the position control of the wrist can be enhanced through a tendon transfer operation. The goal of this project is to provide...
Equations for the mechanics of wrist movement were formulated and simulated on the computer. The output is a display of wrist movement as muscle activation is altered and allows analysis of the control of wrist position through the use of different sets of muscles. The simulation includes the geometry of the wrist joint, the moment arms of the tendons, and the dependance of muscle force on muscle...
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