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The scientific researches in the field of rehabilitation engineering are increasingly providing mechanisms in order to help people with disability to perform simple tasks of day-to-day. Several studies have been carried out highlighting the advantages of using muscle signal in order to control rehabilitation devices, such as experimental prostheses. This paper presents a study investigating the use...
The inclusion of robotic systems in physiotherapy allows developing new solutions for the rehabilitation and support of disabled people. Our research addresses the core problem for the advancement of such applications: the availability of a human machine interface offering intuitive control of robotic devices. In this paper we present an EMG-driven model of the human lower limb based on that previously...
A functional electrical stimulation (FES)-robot system controlled by subjects' motor intention was developed in our previous study. The effectiveness of the FES-robot on wrist training was investigated in this work. Five hemiplegic subjects with chronic stroke were recruited for an FES-robot assisted wrist training with 20 sessions. After the training, motor improvements were found in the wrist and...
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...
This work presents a novel wearable exoskeleton capable of moving the human wrist for rehabilitation or assistive purposes. The purpose of the device is to grant autonomy to individuals suffering from medical conditions such as frailty, spinal cord injury (SCI), stroke or other motor diseases. The device can be operated in two modes. The rehabilitation mode of the device moves the hand in a predefined...
Biofeedback signals have been frequently used for rehabilitation purposes, and in design and calibration of orthotic and prosthetic devices. Whenever one or a couple of muscles of a joint are chosen for rehabilitation or control of a device, it's assumed that a specific load sharing or activation pattern exists among them for each individual and for each specific joint demand. Indeterminacy or a load...
Human robot interaction is a new and rapidly growing field and its application in the realm of rehabilitation and physical care is a major focus area of research worldwide. This paper discusses the development and implementation of a wireless motion capture system for the human arm which can be used for physical therapy or real-time control of a robotic arm, among many other potential applications...
An externally actuated glove, controlled by a microprocessor, is being developed to assist finger extension in stroke survivors. The goal of this device is to allow repeated practice of specific tasks for hand therapy in a home environment. The user can control the device by three different means: voice recognition, electromyography, or manual control. These inputs can be used either independently...
For stroke survivors, or those with debilitating conditions, loss of autonomy and independence is a major issue. To help with this problem, a device is being designed that aids the movements of the wrist and hand. The device will measure the surface EMG readings from the forearm, and accurately interpret these readings to determine the intention of the device wearer. An exoskeleton, extending from...
This paper deals with the design of a new prototype, developed for the quantitative analysis of neuromotor diseases. The system, called Daphne, may measure the reaction of a person evaluating the time response in the motion of one finger of the hand, the velocity of phalanxes, the force exerted from the finger against a button. Daphne performs the more modern aspect connected with concurrent and simultaneous...
The purpose of this study was to develop a rehabilitation device for preventing deterioration of the neuromuscular system in patients with spinal cord injury (SCI). Specifically, motorized footrests that could generate passive motion in paralyzed ankles were devised for use with a wheelchair. We here show the concept and structure of our developed device, and confirmed its effectiveness through physiological...
Therapists often emphasize selection and design of proper training programs for individual patients in different situations and rehabilitation stages. Thus, in order to cater different patient groups, this paper proposes four assistant control strategies for robotic rehabilitation of gait locomotion: (1) orthosis-free, (2) totally-passive, (3) optimal assistance and (4) resistance exercise. A robotic...
Haptic interfaces have been used as a surrogate for many real world applications such as rehabilitation, calligraphy, design and surgical training. While development of haptically enabled systems are opening new avenues in training, very few studies have explored if they provide realistic and matching muscle activations compared to real world activities. In this paper a novel methodology based on...
This study described the operation of the myoelectrically controlled robotic system designed to assist wrist movement in a horizontal plane for patients after stroke. Electromyographic (EMG) signals from flexor carpi radialis (FCR), extensor carpi radialis (ECR) detecting subject's intention are used to control the mechanical assistance from the robotic system either to assist wrist flexion and wrist...
The objective of the present study is to determine if surface electromyography (EMG) signals can be used for controlling the motion of the meal assistance robot. The power of four EMG channels were calculated and encoded into five commands to track the motion of meal assistance robot. The results indicated that by using EMG signals, the meal assistance robot was able to follow the movement desire...
This paper presents a 5 DOF wearable rehabilitation robot which can implement single joint and multi- joint multiple motions for hemiplegic patients. The method of driving rehabilitation robot to assistant patients' impaired limb carry out rehabilitation exercises by healthy one of their own is present because hemiplegic patients' upper limb is usually unilaterally impaired. sEMG (surface electromyogram)...
For elderly and or physically disabled people who have lost their body functioning of motions due to geriatric disorders, and/or disease processes including trauma, sports injuries, spinal cord injuries, occupational injuries, and strokes, we have been developing a 3 DOF mobile robotic exoskeleton for rehabilitation and for assisting motion of elbow and shoulder, since human shoulder and elbow motions...
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