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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...
Numerous haptic devices have been developed for neurorehabilitation of upper extremities, but their wide-spread use has been largely impeded for reasons of complexity and cost. In this paper we describe a variable structure pantograph mechanism that produces a versatile rehabilitation robot for movement training of the shoulder, elbow, and wrist. The device has three operational modes: ARM, REACH...
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...
In this paper we present a universal haptic drive (UHD), a device that enables rehabilitation of either arm (“ARM” mode) or wrist (“WRIST” mode) movement in two degrees-of-freedom. The mode of training depends on the selected mechanical configuration, which depends on locking/unlocking of a passive universal joint. Actuation of the device is accomplished by utilizing a series elastic actuation principle,...
This paper investigates robot-assisted rehabilitation after stroke using the haptic knob, a 2 degree-of-freedom end-effector based robotic device to train grasping and wrist pronation/supination. Nine chronic stroke subjects trained over a period of 6 weeks, with 3 one-hour sessions of robot-assisted therapy per week, consisting of two exercises requiring active participation promoted by therapeutic...
In this study, we aim at developing a mechanical device to support human rehabilitation motion of their wrist joint instead of a physiotherapist. Pneumatic parallel manipulator is introduced as a mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator's feature of multiple degrees of freedom is suitable...
There is a lack of enough attention to the patients' hand posture. When robots implement assistive training, patients are often asked to grip a handle tightly, which may induce strong hand muscle contractions with the hand at an abnormal posture. If we ignore proper control of the muscle tension of subject's hand, the flexibility of hand/fingers may decrease and the robot training may potentially...
In recent years, many researchers have studied on the rehabilitation robotics to assist medical staff or patients. Some kinds of haptic devices have been developed and evaluated its efficiency with clinical tests, for example, upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion except for wrists....
The effect of using robots to improve motor recovery has received increased attention, while the treatment effectiveness remains a topic of study. We compared the training effects by treatments on the wrist joint of chronic stroke patients with an electromyography (EMG)-driven robot (interactive group, n = 15) and a robot with continuous passive motion (passive group, n = 12) by a randomized controlled...
This paper presents the design, and performance of a high fidelity three degree-of-freedom wrist exoskeleton robot, for neuroscience study, training and rehabilitation. The IIT-Wrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy...
Antiphasic electromyographic (EMG) activities between biarticular arm muscles are indispensable for smooth performance. In the case of two-joint arm movement in a planar horizontal plane, elbow and shoulder joint movements were achieved by the biceps brachii (BB) and the triceps brachii muscles (TB). To our knowledge, however, no conclusions have been reached concerning the antiphasic EMG activities...
The motor recovery procedure during robot-assisted wrist rehabilitation for persons after stroke has not been well studied previously. In this work, we carried out a comparative study on the training effects on 10 hemiplegic persons with chronic stroke between a wrist treatment assisted by an electromyography (EMG)-driven robotic system (interactive treatment, n=5, EMG group) and a wrist treatment...
Robot and functional electrical stimulation (FES) techniques have been used for improving motor functions after stroke respectively. In this work, we aimed to examine the combined effects from Robot and FES in post-stroke wrist rehabilitation. We developed a new electromyography (EMG)-driven FES-robot system with a control algorithm, which was interactive to the voluntary motor inputs from persons...
This paper suggest a prototype of a 3 degree of freedom myoelectric hand system for the upper limb amputee. It is consists of the 3 main part, the myoelectric sensor, the myoelectric hand, and training system: the first is a surface electrode myoelectric sensor to extract the raw electromyogram signal from the residual muscle of the upper limb amputee. To implement 6 essential function of the hand,...
A BCI-FES training platform has been designed for rehabilitation on chronic stroke patients to train their upper limb motor functions. The conventional functional electrical stimulation (FES) was driven by userspsila intention through EEG signals to move their wrist and hand. Such active participation was expected to be important for motor rehabilitation according to motor relearning theory. The common...
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