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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,...
Our goal is to enhance the quality of life of patients with hemiplegia by means of an active motion support system that assists the impaired motion such as to make it as close as possible to the motion of an able bodied person. We have developed the Robot Suit HAL (Hybrid Assistive Limb) to actively support and enhance the human motor functions. The purpose of the research presented in this paper...
In this paper a bio-inspired control architecture for a robotic hand is presented. It relies on the same mechanisms of learning inverse internal models studied in humans. The control is capable of developing an internal representation of the hand interacting with the environment and updating it by means of the interaction forces that arise during contact. The learning paradigm exploits LWPR networks,...
The design of robots required to work in the close vicinity or physically interact with humans such as humanoids machines, rehabilitation or human performance augmentation systems should not follow the traditional design rule `stiffer is better'. Safety is a particularly vital concern in these systems and to maximize it a different design approach should be used. The role of compliance in improving...
This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm. The user provides information signals to the controller...
A non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in...
Numerous researches have been carried out to use robot in the area of stroke rehabilitations. The conventional approach is to assist patient to perform Activities of Daily Living (ADL) through a set of pre-programmed trajectories. The main drawback lies in the lack of voluntary movement by the patient. Many of these works have been carried out by using positional feedback control. In this kind of...
There are 10 to 20 millions polio survivors living around the world. Some of them cannot move their limbs by themselves. They feel inconveniences at several situations: climbing stairs; moving in a narrow space; walking. It is very difficult for polio survivors, who have permanent paralysis, to restore motor functions by using conventional rehabilitation approaches. Our aim is the assistance of motor...
This paper proposes motion instruction system with the interactive robot suit HAL (hybrid assistive limb) for supporting physically challenged persons, enhancing and expanding the human ability. HAL consists of external frames, actuators, various sensors, and a control PC with ethernet device and has not only been developed to assist the motion of wearer's body, but also can be applied to motion instruction...
In robot-assisted surgery, haptic feedback is ongoing issue. The breaking of surgical suture material and the damage of tissue are avoidable with haptic feedback. This paper is proposing to add haptic feedback in the da Vinci like robot using unmodified da Vinci surgical instrument. To overcome the restriction of space and difficulty in measuring the force at the end-effector, the torque sensor-motor...
In this paper, the design of a novel MRI-compatible torque sensor is proposed. The sensor is based on an optical measurement, with a particular architecture to provide a very low cross-sensitivity. Its structure allows to simultaneously tune the sensor stiffness and the measurement amplitude of the optical sensor. To do so, kinematic singularities of parallel structures are used as well as the principles...
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed...
We describe modeling, system identification and control design for a magnet manipulator. Two of these manipulators, placed on either side of a patient, will articulate their large permanent magnets to generate a magnetic field in an anatomical region (e.g. the heart) as part of a medical navigation system under the remote control of a medical professional. We derive the equations of motion using the...
The paper presents an introduction of virtual reality environments to the commercial single-joint rehabilitation robot. A dynamometer has been modified to the level that enables gait goniogram based position control. The robot mimics the isolated joint movement while the subject is required to perform the task in the virtual environment. The subject generates joint torque to control the object in...
Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
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...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
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...
An overview is provided of the design, operation and performance of an experimental test facility that has been developed for stroke rehabilitation. The aim of the system is to improve sensory-motor function of the impaired upper limb, and it has recently been used in clinical trials with stroke participants. During treatment subjects were seated at the workstation and their impaired arm strapped...
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