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This paper presents new human-centered robotic approaches applied to the rehabilitation of gait and upper-extremity functions in patients with movement disorders. So-called "patient-cooperative" strategies can take into account the patient's intention and efforts rather than imposing any predefined movement. It is hypothesized that such human-cente...
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... et al. [19], the arm robot from Cozens [20], the haptic display of the European project GENTLE/s [21], which is based on the FCS Haptic Master [22], the MIT-Manus [23], [24], or the MIME (Mirror Image Movement Enhancer) arm therapy robot [25]. ARMin is another rehabilitation robot system currently being developed for upper extremity treatments (Fig. 1) [26]. The impedance controller was tested on several healthy subjects and one incomplete paraplegic subject. Prior to the impedance control mode the subjects were walking in a position control loop. Angular deviations increased with increasing robot compliance, as the robot applied a smaller amount of force to guide the human legs ...
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It is the goal of this paper to introduce an analytical model that allows predicting and interpreting the characteristics of constraint forces generated by misaligned joint axes between human operators and wearable robots during physical human-robot interaction (pHRI). The pHRI model is based on geometric parameters that describe the combined human...
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... However, passive training is not appropriate for all patients. In the nonacute stage, there is usually a greater need for the active training and recovery of motor flexibility and coordination of the limbs, which are highly important for muscle and nerve recovery [8,9]. So far, several human-robot collaborative controllers have been developed to support the active participation of users in rehabilitation. ...
Existing studies on rehabilitation robots are generally devoted to robot-assisted active rehabilitation training, which is conducive to facilitating muscle and nerve regeneration. However, human–robot interaction (HRI) requires imposing a limit on the workspace within which the robot operates, so as to ensure patient safety. A safe admittance boundary algorithm for a rehabilitation robot is proposed based on the space classification model which works by constructing a virtual boundary for the HRI workspace in the control layer. First, point cloud isodensification is performed for the workspaces within which the human body and the robot operate. Next, the nearest neighbor density is determined for the point cloud, and the space classification model is built on this basis. Finally, the space classification model is integrated with admittance control to derive the safe admittance boundary algorithm, which can be used for safety control. This algorithm is then subjected to space verification experiments and out–of–bounds experiments using a dynamic arm simulator (DAS). As indicated by the experimental results, when the side length of the voxel grid for voxel center filtering is set to 0.06 m, the accuracy of space definition is 98.40%. The average maximum response time for out–of–bounds behaviors is 165.62 ms. The safe admittance boundary algorithm can impose reasonable virtual constraints on the robot workspace, thereby improving HRI safety.
... In this emerging framework, the importance of a relational approach to technology becomes relevant in the design of reliable, efficient, and safe systems. Recently, this focus on the user and their needs has been deepened into the human-centered approach (Boy, 2017;Auernhammer, 2020); its importance can be found in all devices requiring the development of synergies and relationships between human and machine, from industrial robots to bio-medical devices (Riener et al., 2005;Schaal, 2007;Zhou et al., 2017). This article will address the case of active upper-limb prostheses to discuss the importance and the limits of the neuroergonomics approach and human-centered design. ...
... A novel algorithm was developed based on performance-based-progressive theory for rehabilitation, and an algorithm was developed for triggering the recovery of stroke patients [36]. The approaches made in human-centered robotic systems were presented and consisted of patient-cooperative abilities that did not impose any predefined movement on stroke patients [37]. ARKOD device for knee rehabilitation was presented, which had damping closed-loop control and an electro-rheological fluid for effective flexion of knee movement [38]. ...
Robots have been widely applied in the medical field to aid various surgeries and different therapies, to assist movement for patients with physical disabilities, etc. Although some review works have been carried out, trends and applications deliberated, and future of rehabilitation robotics has been forecasted, yet a consolidated survey was missing in the literature. The objective of this survey is to present a review of the rehabilitation robots, which will also open the reader to understand futuristic applications in this domain. Several researchers worked on the integrated architecture of human beings and robots with cognitive skills. The application of rehabilitation robots in orthotics and prosthetics has also been significant. The use of sensing technology in rehabilitation robots has also been addressed. Further, the scenario of rehabilitation robotics in Europe and the northern part of America is also highlighted in this work.
... Assistive robotics is a technology widely used in rehabilitation [6]. The assistance in rehabilitation using robots is generally well received by patients and has proved to be a motivating complement in therapies for people suffering from motor impairments [7,8]. ...
En este trabajo se presenta el proceso de diseño e implementación de aplicaciones para apoyar procesos terapéuticos para personas con discapacidad. Se utilizó el enfoque de diseño centrado en el usuario para definir los requisitos de las aplicaciones e identificar el contexto terapéutico. De igual forma, se presenta una validación preliminar del uso de las aplicaciones por medio con usuarios que asisten de manera regular al centro de NeuroRehabilitación SURGIR en Cali-Colombia. Estas validaciones se realizaron a través de la evaluación de objetivos SMART en los procesos terapéuticos de los usuarios. Este trabajo se realizó en el marco del Programa de Innovación y Desarrollo Tecnológico Productivo de SENNOVA para el fomento de la investigación en Colombia
... Muscle impairment can be restored by some hand movement exercises with organized, repetitive task and task-oriented, this exercise will result in improving motor skill and muscular strength, as in [17]. According to an investigation, daily activities movement such as eating and reaching object can be literature for designing arm movement [10,12,23]. ...
Stroke is a leading cause of serious long-term disability. World Health Organization (WHO) published that the second leading of death is stroke accident and every year, 15 million people worldwide suffer from stroke attack, two-thirds of them have a permanent disability. Muscle impairment can be treated by intensive movements involving repetitive task, task-oriented and task-variegated. Conventional stroke rehabilitation is expensive, less engaging and at the same time need more time for the rehabilitation process and need more energy and time for the therapist to guide the stroke-survivor. Modern stroke rehabilitation is more promising and more effective with modern rehabilitation aids allowing the rehabilitation process to be faster, however, this therapist method can be obtained in the big cities. To cover the lack of rehabilitation process in this research will develop and improve post-stroke rehabilitation using games. This research using electromyography (EMG) device to analyze the muscle contraction during the rehabilitation process and using Kinect XBOX to record trajectory hands movements. Five games from movements sequence have designed and will be examined in this research. This games obtained two results, the first is the EMG signal and the second is trajectory data. EMG signal can recognize muscle contractions during playing game and the trajectory data can save the pattern of movements and showed the pattern to the monitor. EMG signal processing using time or frequency feature extractions is a good idea to obtain more information from muscle contractions, also velocity, similarities and error movements can be obtained by study the possible approaches.
... It arouses the interest of the biomechanical community because of its complexity and the multiplicity of its pathologies. Recent studies have shown that, from an anatomical point of view, the kinematic description of the movements of the knee joint has six axes and six degrees of freedom [7]. These are presented in Fig. 3, and consist of three rotations and three translations arranged in a simple kinematic chain [8]. ...
To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.
... Assistive robotics is a technology widely used in rehabilitation [6]. The assistance in rehabilitation using robots is generally well received by patients and has proved to be a motivating complement in therapies for people suffering from motor impairments [7,8]. ...
Background: Children with cerebral palsy have difficulty to sit, stand, walk, run and jump independently. Therapy is an important factor in improving these aspects, and if applied in early intervention treatments, when the child is growing, it could have many benefits. These therapies require intensive and extended sessions, which in turn demand dedication and effort. New strategies that provide interesting and motivating interventions are often incorporated to improve the participation and performance of the children in the therapies. Therapies using social assistive robots can be alternative and complementary methods to promote the participation and motivation of children with cerebral palsy.
Methods: The objective of this work is to validate the effectiveness of a 16-session physical therapy program to improve the participation and fulfillment of therapeutic objectives on an 8 year-old boy with dyskinetic cerebral palsy for motor learning to walk using a social assistive robot. The therapy program was carried out through a methodological proposal that uses SMART objectives (Specific, Measurable, Achievable, Realistic and Timed), Goal-Directed Therapy (GDT) and its evaluation through Goal Attainment Scaling (GAS). Results: A NAO robot was used as a social assistive robot to support a physical therapy for a child with cerebral palsy. In this work, it was observed that the motivation generated by the interaction with the social assistive robot facilitated the persistence in the walking and the fulfillment of the objectives. Conclusion: Using humanoid robots as social assistive robots may benefit therapeutic processes on children with motor disabilities. The methodology developed provides a formal way to achieve objectives in therapeutic processes for children with cerebral palsy.
• Implications for rehabilitation
• It requires researchers to conduct more studies to validate the potential of the use of social robots in therapeutic interventions that promote development in children with motor disabilities, such as cerebral palsy.
• Promoting the use of new technologies in therapeutic processes such as humanoid robots allows us to create new strategies to know the impact of this technology in the area of rehabilitation.
• The use of formal methodologies focused on the patient, along with multidisciplinary teams, could increase the possibilities of using social robots to improve cognitive and motor outcomes in children with cerebral palsy.
• The formulation of SMART objectives and their quantification through the GAS scale can be used as recommendations to improve the formulation of goals in therapeutic interventions for children with cerebral palsy.
... However, three main drawbacks of the manually assisted physical therapy are labor-intensive (the duration of the training is based on the personal shortage and fatigue of the therapist), the limitation in the repeatability and evaluating the patients' performance, and the high cost of the procedure. In addition, achieving an optimal therapeutic result is not guaranteed by a manually assisted physical therapy [1]. ...
In this paper, two algorithms are performed to find an optimum design of a six-degree-of-freedom Stewart platform to provide a desired pure rotational motion required in the robotic rehabilitation of the foot for patients with neuropathy. To accomplish this, first, we present the kinematic and the dynamic analysis of the Stewart platform. The dynamic equations are derived by using a customized Lagrange method. Then, physically meaningful objective variables are defined such as the size of the platform, the length of the six links, the maximum stroke of the six linear actuators, the maximum actuator force, and the reachable workspace. This is followed by using two optimization methods (Genetic Algorithm and Monte-Carlo method) to study the aforementioned objective variables, resulting in the optimal solution for the desired orientation motions. Then, the detailed investigation of the effect of changes in these objective variables on the variation of the platform design variables is studied. Finally, in a numerical example, the advantages and disadvantages of using the Genetic Algorithm and the Monte-Carlo method to find the optimal design variables for a custom cost function with weighted objective variables are revealed.
... The use of robots to provide therapy for stroke patients has many attractive features namely, (i) Reduction of therapy cost by automating of the therapy procedure thus, allowing a therapist/physician to work with many patients at the same time, (ii) quantitative assessment of the motor ability of stroke patients [38][39][40], (iii) provide repetitive task oriented training, and (iv) can generate a wide variety of forces and motion [41]. Clinical studies have demonstrated that robot-assisted therapy can aid motor recovery in stroke patients [42][43][44][45][46]. Robots have been developed for both the upper-extremity [44,47,48] and the lower extremity [44,46,[48][49][50]. These robotic devices can be used for providing different modes of therapy to a patient. ...
This was submitted as part of a course I had taken during my doctoral degree.
... Another important aspect for robotic based neurorehabilitation is the choice of the haptic device. Robotic devices using "assist-as-needed" control algorithms can be beneficial for motor recovery, because they allow movement's errors to a certain degree and increase the patient's effort during the exercises [6,7,28,38]. In this case the therapy device supports the patient by giving an appropriate amount of assistance if he cannot perform the given rehab exercise independently. ...
Robotic therapy devices have been an important part of clinical neurological rehabilitation for several years. Until now such devices are only available for patients receiving therapy inside rehabilitation hospitals. Since patients should continue rehabilitation training after hospital discharge at home, intelligent robotic rehab devices could help to achieve this goal. This paper proposes a novel multimodal home therapy concept and robot based system for motor telerehabilitation which is currently being further developed. The system is based on two haptic rehabilitation devices i) the Bi-Manu-Track (BMT) 2×1 DOF robotic haptic rehabilitation device with assist-as-needed control algorithms and ii) an enhanced version of the 3 DOF passive Reha-Slide system. The paper describes the technical system setup as well as user centered design aspects.
