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Neurological injuries caused by stroke, spinal cord injury or other illnesses and accidents often lead to walking disabilities. If not properly treated, gait disorders can lead to impaired physical and mental health, reduced physical activity, falls, fear of falling, loss of independence and the need for continuous medical care. After an accident or the start of an illness it is important to start...
This paper presents a novel, smart, and portable active knee rehabilitation orthotic device (AKROD) that provides variable damping at the knee joint, controlled in ways that can facilitate motor recovery in poststroke and other neurological disease patients, and to accelerate recovery in knee injury patients. The key features of AKROD include a compact, lightweight design, with highly tunable resistive...
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...
Robotic surgery is the most promising application of telerobotic technologies to everyday life. Probably, surgical robots will open the way to new service robots in medicine, rehabilitation, assistance and personal care, and will foster, hopefully, the growth of new products and markets that will improve the quality of life of people across the world.
This paper shows the general concept and the primary implementation of a pervasive intelligent system for rehabilitation. The scope of this work is to highlight the possibility to join two important research fields, i.e. rehabilitation and ambient assisted living, to enhance the capabilities and independence of disable and aged people. The described system was composed of a ZigBee network, with coordinator,...
This paper presents the mechanical design of an ankle rehabilitation robotic device based on a 2-dof, redundantly actuated parallel mechanism. The parallel mechanism introduced in this paper has the advantage of mechanical and kinematic simplicity when compared to existing platforms while at the same time it is fully capable of carrying out all the exercises required by ankle rehabilitation protocols...
Summary form only given. The possibilities of using robots in eldercare have inspired a growing number of research projects. Not only can robotic technologies be used for rehabilitation, also they could facilitate the work of caregivers and provide social company for elders. In our project we are interested in the acceptance of robotic technology by elders and particularly in the influence of a robots...
Human-robot interaction (HRI) for socially assistive applications is a growing research area at the intersection of robotics, health science, psychology, social and cognitive science. Assistive robotics has the potential to enhance quality of life for large user populations. Individuals in rehabilitation therapy are potential beneficiaries of socially assistive technology, both for improved mobility...
GRANNIE 2 is the latest iteration of the author's artificial intelligence-enhanced robot control system. Early versions provided a biologically inspired, object oriented, open systems, multiprocessor network to support android or simian robots. Later extensions assisted with research into human growth and development, simulated hormone action and drug responses, and served as a user-friendly interface...
The authors have developed a diagnostic algorithm to facilitate the design and optimization of a human locomotion system. The analysis enables the kinematic gait characteristics of a human gait device to be adjusted in order to enable the micmicking of a range of gaits during motion, thus allowing patient-initiated -patterns to be completed or refined. The paper addresses the diagnostic procedures...
The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector...
The paper presents a novel concept of lightweight and inherently safe robotic systems for assisting the locomotion recovery therapy and training. This concept, referred to as STRING-MAN, is established on string-puppet idea and utilizes modular wire robot components and advanced artificial muscles drives. An overview of the system's fundamental components, such as mechanical structure, patient-machine...
With over 600,000 people each year surviving a stroke, it has become the leading cause of serious long-term disability in the United States [1, 2, 3]. Studies have proven that through repetitive task training, neural circuits can be re-mapped thus increasing the mobility of the patient [4, 5, 6, 7, 8]. This fuels the emerging field of rehabilitation robotics. As technology advances new therapy robots...
A new robotic gripper was designed and constructed for activities of daily living (ADL) to be used with the new wheelchair-mounted robotic arm developed at USF. Two aspects of the new gripper made it unique; one is the design of the paddles, and the other is the design of the actuation mechanism that produces parallel motion for effective gripping. The paddles of the gripper were designed to grasp...
Cerebellar symptoms are extremely disabling, and are common in patients with multiple sclerosis (MS); at present, no effective treatments are available. This pilot study aims at developing and assessing a novel robot therapy protocol, aimed at the rehabilitation of subjects with MS and impaired coordination. Subjects performed planar reaching movements while grasping the handle of a robotic manipulandum,...
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