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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,...
A lower limbs rehabilitative training robot was designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. The robot was fixed with four omni-directional wheels which can move within any radius in any direction. When the robot is running, some undetected uncertainty disturbances change its running trajectory,...
The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic...
The aim is to characterize the effects of cardiovascular on heart rate variability(HRV) by the nonlinear dynamical parameter complexity measure of the HRV signal. The method is that the electro-cardiogram signals of 20 normal samples and 107 various patient samples are collected. Based on the preprocessing for the raw data, the HRV signals of all samples are extracted from electrocardiogram signals...
Rehabilitation robot is a type of assistant recovery equipment designed particularly for the sick people having difficulty in walking to get gait rehabilitation training, the research on joint flexibility is of great significance for the program making of walking gait control. The three closed-loops PID control method was proposed for the lower-limb rehabilitation robot MACCEPA (mechanically adjustable...
The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper,...
In this study we describe walking speed estimation method using only temporal parameters of gait. Further, this method can be adopted for automatic speed adaptation during walking on treadmill which is useful for gait rehabilitation process and also for navigation in virtual reality environment. The proposed speed estimation method is based on two temporal parameters during stance phase: time duration...
A methodology for studying the effect of vibrations generated by a haptic interface on upper limb is introduced. In the proposed methodology, a subject presses on a horizontally vibrating, rigid, virtual object with a cheap off-the-shelf (COTS) haptic device. When the subject feels vibrations of fixed amplitude and varying frequencies the electromyographic (EMG) activity of upper limb is recorded...
It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, there is still little knowledge about their real effectiveness. For this purpose, authors have proposed the development of a robotic system that provides massage therapy of the maxillofacial...
The following topics are dealt with: information technology; biomedicine; e-health; telemedicine; medical imaging; biosignals; high performance computing applications in life sciences; health system devices; medical image segmentation; health systems on the Web; computational intelligence in medical imaging; biosignals in fetus and newborn; diagnostic and therapeutic systems; systems biology and modeling...
We report on the application perspectives of optical fiber strain and shear sensor configurations in the fields of orthopedic biomechanics and rehabilitation. The principle of operation of Fiber Bragg Grating (FBG) sensing elements is presented revealing their potential for introducing intelligence in biotechnological products for orthopedics and rehabilitation. Finally, we present recent advances...
Haptic-based virtual rehabilitation systems have recently become a subject of interest. In addition to the benefits provided by virtual rehabilitation, they offer force and tactile feedback which can be crucial for many upper and lower extremity rehabilitation. In this paper, we present a system that uses haptics, in conjunction with virtual environments, to provide a rich media environment for motor...
In this article, we present novel methods of medical examinations that use state of the art utilities, namely motion capturing as a basis to replace traditional methods. The 3D representation of the patient's activity, analyzed through motion capture process, provides the clinician a more objective view of the patient's movements and problem areas. It provides the clinician or therapist a new method...
Continuous passive motion (CPM) and continuous active motion (CAM) physiotherapy devices are commonly used to promote rehabilitation of damaged synovial joints. CAM devices use some form of mechanical resistance to patient muscle activity. This paper presents a combined CAM/CPM device which functions conventionally in the CPM mode, but in the CAM mode uses the motor to exert a constant force against...
We present a novel tracking system for the rehabilitation of hand function following stroke. The system consists of a compact assessment system with two measuring objects of different shapes, which can be connected to a personal computer for data acquisition and visual feedback. The system was used in connection with four tracking tasks which were applied to train and evaluate patient's grip strength...
The evolution of an arm exoskeleton design for treating shoulder pathology is examined. Tradeoffs between various kinematics configurations are explored, and a device with five active degrees of freedom is proposed. Two rapid-prototype designs were built and fitted to several subjects to verify the kinematic design and determine passive link adjustments. Control modes are developed for exercise therapy...
The population in the industrialized world is aging rapidly. Modest growth in national economies coupled with rapidly increasing expenditures for medical goods and services have strained the health care budgets for most of the industrialized world. This means that there will be an increased emphasis on maintaining a productive, older workforce, and that there will be an advantage for health systems...
In this paper, a wearable exoskeleton leg conceived and designed to augment human's walking ability is proposed. The ultimate goal of this project is to provide an insight into the methodology of designing and controlling a power assist system, which integrates human's intellect as the central control system for manipulating the wearable anthropomorphic device. The whole process of design, construction...
Using microsensors for the robust and accurate analysis of human posture or gait is an interesting opportunity for rehabilitation and robotics applications. This paper describes a feasibility study in which the possibility of using a new type of embedded microsensors, based on the coupling of accelerometers and magnetometers, and developed by CEA/LETI is investigated. This study consists in identifying...
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