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Technology assisted therapy has the potential to transform rehabilitation options available, and to dramatically increase the reach of today's healthcare system. Yet challenges persist in rendering translational application designs that optimize the full potential of technology and create value for the patient and the therapist. In a step towards optimizing value of technologies for practical applications...
This paper describes a video game for the rehabilitation of the pronation and supination movements of children with cerebral palsy. It is used as an interface for a robot that is currently under development. The game was programmed in LabVIEW and MATLAB is used for analyzing the results. It simulates a formula one racecar on a racetrack. Its objective is to keep the car inside the racetrack's limits...
Considering the difficulty in regeneration the stroke patient's neurons by modern medicine, the rehabilitation robots are widely studied to help the patient reduce influence caused by the stroke illness. In this paper, the lower limb rehabilitation robot, which has eight degree of freedoms, is studied. The motion data of the lower limb rehabilitation robot are got by the great number of models provided...
We have been developing an exoskeleton robot (ExoRob) for assisting daily upper limb movements (i.e., shoulder, elbow and wrist). In this paper we have focused on the development of a 2DOF ExoRob to rehabilitate elbow joint flexion/extension and shoulder joint internal/external rotation, as a step toward the development of a complete (i.e., 3DOF) shoulder motion assisted exoskeleton robot. The proposed...
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 new technology advances have allowed us the design and construction of sophisticated artificial legs, which give a very close to normal human gait to patients that have received these devices. But the task is very difficult, and it requires a lot of research with interdisciplinary-science teams. One of the tools which lets to get excellent artificial legs is the study and design of biped robots,...
Passive rehabilitation robots are the auxiliary equipment which used to help patients recovering from diseases. In this paper, we addressed a lower limb 4-degree of freedom (4-DOF) model, proposed a lower limb rehabilitation mechanism. Based on MATLAB/Simulink software, analyze the displacement, speed and acceleration of fulcrums are analyzed. Experiment results verified that the simulation results...
In order to aid walking and limb rehabilitation training, a four-degree pelvic pose and position control mechanism of walking aid robot is discussed based on the motion laws of human pelvic. By applying modified D-H method, a kinematical coordinate system of the pose and position control mechanism is set up and the forward and inverse kinematics models are also built up. After the design of control...
This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
Lower limbs rehabilitation robot combines kinesitherapy with psychotherapy organically and provides a effective medical appliance to recover limb function for the patients. The rehabilitation robot designed in this paper uses advanced omnidirectional wheel structure chassis that can move toward all directions without rotation, its motion range do not have dead angle and the using demand are also decreased...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
Muscle exercise therapies can recover hemiplegy of disabled and elder people. A novel cable-driven robot has been developed to carry out rehabilitation exercise in this study. The whole structure of this apparatus is composed of four-cable-driven robot and bracket made of aluminum alloy. The kinematical model of the system is obtained through vector analysis method. The motion characteristics and...
A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel...
A linear-quadratic-Gaussian regulator is proposed for the torque control of flexible robotic joints with built-in torque sensor. The regulator requires the joint-torque sensor information only and features: (1) a Kalman filter that, beside reducing the noise and evaluating the derivative of the torque sensor measure, is able to estimate all the external and internal torques acting on the joint; 2)...
This work presents a robotic platform for upper-limb rehabilitation robotics. It integrates devices for human multisensorial feedback for engaging and immersive therapies. Its modular software design and architecture allows the implementation of advanced control algorithms for effective and customized rehabilitations. A flexible communication infrastructure allows straightforward devices integration...
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,...
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...
This paper describes the preliminary results of an ongoing study of the effects of two training approaches on motor function and learning in persons with hemi paresis due to cerebrovascular accidents. Eighteen subjects with chronic stroke performed eight, three-hour sessions of sensorimotor training in haptically renedered environments. Eleven subjects performed training activities that integrated...
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