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This paper describes how semiautomated variation in active upper limb exercise is achieved by the iPAM robotic rehabilitation system. The iPAM system is used to deliver assisted therapeutic upper limb exercise for people with stroke. An admittance control scheme allows the assistance to be tailored to an individual's needs. A key aspect of motor learning is variation in practice. Therefore a key aspect...
This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing application flexibility. Experimental results of...
To gain understanding in the current status of Robotics in healthcare the European Commission issued a roadmap study into this domain. This paper reports on the main characteristics and results of this study. The study covered the wide domain of healthcare and in this paper the domains relevant for rehabilitation robotics are highlighted. The study ultimately resulted in a range of required or foreseen...
iPAM is a dual robot system developed at the University of Leeds to assist people with stroke who have moderate to severe arm weakness undertake active exercises. If the system is to be adopted in into routine clinical practice, it is essential that it is accepted by people with stroke and their treating therapists. This paper presents results of a formal evaluation of the acceptance of this system...
This article presents the design process of Iromec, a modular robot companion tailored towards engaging in social exchanges with children with different disabilities with the aim to empower them to discover a wide rage of play styles from solitary to social and cooperative play. In particular this paper describes the design process from the elicitation of user requirements related to three main target...
In rehabilitation robotics, a strong coupling between human and robot entails high requirements for achieving mutual adaptation. The latter underlies the acceptance of the robotic device as an extension of the human body and promotes an efficient collaboration. We present automated metrics for quantifying models of human-robot interaction and the mutual adaptation based on the pattern of informational...
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...
Stroke or other neurological disorders potentially lead to movement deficits that may be recovered through proper rehabilitation. Robotic therapy has been applied to larger limbs such as the arms but not as commonly for the hand. It has been shown that virtual robotic environment with feedback distortion has a positive therapeutic effect in single finger movement. To expand this one finger therapeutic...
The increasing population of older people is leading to growing healthcare demands. Stroke is the commonest cause of severe disability in developed countries leaving one third of patients with long term disability. Rehabilitation is the cornerstone of recovery. Lack of rehabilitation manpower resources can limit recovery of limb function. However, technology can assist rehabilitation staff to deliver...
This work proposes a mechatronic solution to increase the backdrivability of a rehabilitation robot in order to cope with intrinsic kinematic constraints which are adopted by the human brain to solve redundancy in motor tasks. In order to reduce the interaction force between the user and the robot and ensure the robot to follow subjects movements a pure force control algorithm has been adopted. The...
One of the useful features of robotic rehabilitation is the possibility of movement quantification, which is currently lacking in conventional rehabilitation therapy. Movement performance measures calculated from this quantitative information serves various purposes - (a) a good supplement to clinical assessment measures, (b) can be more sensitive than many clinical measures which use ordinal scales...
This paper describes the design and application of an omnidirectional lower limbs rehabilitation training robot. The robot is designed to improve patient walking ability, who suffers from impairment in locomotion after neurology injuries. The robot is characterized with three key points as follows: (1) omnidirectional wheeled mechanical structure, (2) real-time biofeedback mechanism, and (3) balance...
This paper describes the control architecture for lower limbs rehabilitation robot system and its implementation. The system has exoskeleton structure with 10 DOF (degrees of freedom) and is pneumatically actuated. The control strategy has been specifically designed in order to ensure a proper position control guiding patient's legs along a fixed reference gait pattern. For this purposes Fuzzy controller...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the 2-degree-of-freedom power wheelchair control...
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...
This paper we propose a new rehabilitation training support system of upper limbs with the teaching/training function for personalized rehabilitation. The proposed teaching/training function enables the therapists to easily make not only training trajectories but also training programs to suit the individual needs of the patients. It is shown in this paper that three kinds of training programs requested...
Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. HEnRiE is a robot based haptic environment for simultaneous training of reaching and grasping movements. It consists of a robot with three active and two passive degrees of freedom and a grasping device with one degree of freedom. A training scenario that includes a virtual physiotherapist...
Rehabilitation robots start to become an important tool in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration, repetitive and task-oriented. Therefore, these devices have the potential to improve the rehabilitation process in stroke patients. While in the past, most groups have been working with endeffector-based robots, exoskeleton...
The analysis, synthesis and mechanical design of a wearable biomechanical device for treating the club-foot children malformation is presented in this paper. This system serves as non-invasive alternative method for correcting this congenital malformation in 0-1 year-old children. Robot kinematics and constrained Euler-Lagrange dynamics tools are employed to analyse this malformation, altogether with...
The objective of this work is first to present a study and analysis of fundamental issues that constitute the development of a hand rehabilitation system by making use of mechanisms for objective and quantitative assessment for patients with motor weakness, such as spinal cord injury (SCI) and post-stroke. The proposed rehabilitation system aims to improve the functional ability of impaired hand on...
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