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Rehabilitation Robot For Static And Dynamic Joint Resistance Measurement Of The Upper Limb
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Book Synopsis Rehabilitation Robot for Static and Dynamic Joint Resistance Measurement of the Upper Limb by : Huey Hsiuyi Lin
Download or read book Rehabilitation Robot for Static and Dynamic Joint Resistance Measurement of the Upper Limb written by Huey Hsiuyi Lin and published by . This book was released on 1998 with total page 574 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advanced Robotics for Medical Rehabilitation by : Shane (S.Q.) Xie
Download or read book Advanced Robotics for Medical Rehabilitation written by Shane (S.Q.) Xie and published by Springer. This book was released on 2015-10-31 with total page 357 pages. Available in PDF, EPUB and Kindle. Book excerpt: Focussing on the key technologies in developing robots for a wide range of medical rehabilitation activities – which will include robotics basics, modelling and control, biomechanics modelling, rehabilitation strategies, robot assistance, clinical setup/implementation as well as neural and muscular interfaces for rehabilitation robot control – this book is split into two parts; a review of the current state of the art, and recent advances in robotics for medical rehabilitation. Both parts will include five sections for the five key areas in rehabilitation robotics: (i) the upper limb; (ii) lower limb for gait rehabilitation (iii) hand, finger and wrist; (iv) ankle for strains and sprains; and (v) the use of EEG and EMG to create interfaces between the neurological and muscular functions of the patients and the rehabilitation robots. Each chapter provides a description of the design of the device, the control system used, and the implementation and testing to show how it fulfils the needs of that specific area of rehabilitation. The book will detail new devices, some of which have never been published before in any journal or conference.
Book Synopsis Direct-drive Robot for Rehabilitation and Biomechanical Measurement by : Daniel Edward Cunningham
Download or read book Direct-drive Robot for Rehabilitation and Biomechanical Measurement written by Daniel Edward Cunningham and published by . This book was released on 1998 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Rehabilitation Robotics by : Roberto Colombo
Download or read book Rehabilitation Robotics written by Roberto Colombo and published by Academic Press. This book was released on 2018-03-08 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic. Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics. Provides a comprehensive review of recent developments in the area of rehabilitation robotics Includes information on both therapeutic and assistive robots Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems
Book Synopsis Upper Motor Neurone Syndrome and Spasticity by : Michael P. Barnes
Download or read book Upper Motor Neurone Syndrome and Spasticity written by Michael P. Barnes and published by Cambridge University Press. This book was released on 2001-02 with total page 332 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a thorough, practical reference and guide for all health professionals involved in the management of spasticity.
Book Synopsis Model-based Control of Upper Extremity Human-robot Rehabilitation Systems by : Borna Ghannadi
Download or read book Model-based Control of Upper Extremity Human-robot Rehabilitation Systems written by Borna Ghannadi and published by . This book was released on 2017 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke rehabilitation technologies have focused on reducing treatment cost while improving effectiveness. Rehabilitation robots are generally developed for home and clinical usage to: 1) deliver repetitive and stimulating practice to post-stroke patients, 2) minimize therapist interventions, and 3) increase the number of patients per therapist, thereby decreasing the associated cost. The control of rehabilitation robots is often limited to black- or gray-box approaches; thus, safety issues regarding the human-robot interaction are not easily considered. Furthermore, despite numerous studies of control strategies for rehabilitation, there are very few rehabilitation robots in which the tasks are implemented using optimal control theory. Optimal controllers using physics-based models have the potential to overcome these issues. This thesis presents advanced impedance- and model-based controllers for an end-effector-based upper extremity stroke rehabilitation robot. The final goal is to implement a biomechanically-plausible real-time nonlinear model predictive control for the studied rehabilitation system. The real-time term indicates that the controller computations finish within the sampling frequency time. This control structure, along with advanced impedance-based controllers, can be applied to any human-environment interactions. This makes them promising tools for different types of assistive devices, exoskeletons, active prostheses and orthoses, and exercise equipment. In this thesis, a high-fidelity biomechatronic model of the human-robot interaction is developed. The rehabilitation robot is a 2 degree-of-freedom parallelogram linkage with joint friction and backlash, and nonlinear dynamics. The mechatronic model of the robot with relatively accurate identified dynamic parameters is used in the human-robot interaction plant. Different musculoskeletal upper extremity, biomechanic, models are used to model human body motions while interacting with the rehabilitation robot model. Human-robot interaction models are recruited for model-in-loop simulations, thereby tuning the developed controllers in a structured resolution. The interaction models are optimized for real-time simulations. Thus, they are also used within the model-based control structures to provide biofeedback during a rehabilitation therapy. In robotic rehabilitation, because of physical interaction of the patient with a mechanical device, safety is a fundamental element in the design of a controller. Thus, impedance-based assistance is commonly used for robotic rehabilitation. One of our objectives is to achieve a reliable and real-time implementable controller. In our definition, a reliable controller is capable of handling variable exercises and admittance interactions. The controller should reduce therapist intervention and improve the quality of the rehabilitation. Hence, we develop advanced impedance-based assistance controllers for the rehabilitation robot. Overall, two types of impedance-based (i.e., hybrid force-impedance and optimal impedance) controllers are developed and tuned using model-in-loop simulations. Their performances are assessed using simulations and/or experiments. Furthermore, their drawbacks are discussed and possible methods for their improvements are proposed. In contrast to black/gray-box controllers, a physics-based model can leverage the inherent dynamics of the system and facilitate implementation of special control techniques, which can optimize a specific performance criterion while meeting stringent system constraints. Thus, we present model-based controllers for the upper extremity rehabilitation robot using our developed musculoskeletal models. Two types of model-based controllers (i.e., nonlinear model predictive control using external 3-dimensional musculoskeletal model or internal 2-dimensional musculoskeletal model) are proposed. Their performances are evaluated in simulations and/or experiments. The biomechanically-plausible nonlinear model predictive control using internal 2-dimensional musculoskeletal model predicts muscular activities of the human subject and provides optimal assistance in real-time experiments, thereby conforming to our final goal for this project.
Download or read book Wearable Robotics written by Jacob Rosen and published by Academic Press. This book was released on 2019-11-16 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications
Book Synopsis Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality by : Yang Shen
Download or read book Control and Dynamic Manipulability of a Dual-Arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality written by Yang Shen and published by . This book was released on 2019 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Every year there are about 800,000 new stroke patients in the US, and many of them suffer from upper limb neuromuscular disabilities including but not limited to: weakness, spasticity and abnormal synergy. Patients usually have the potential to rehabilitate (to some extent) based on neuroplasticity, and physical therapy intervention helps accelerate the recovery. However, many patients could not afford the expensive physical therapy after the onset of stroke, and miss the opportunity to get recovered. Robot-assisted rehabilitation thus might be the solution, with the following unparalleled advantages: (1) 24/7 capability of human arm gravity compensation; (2) multi-joint movement coordination/correction, which could not be easily done by human physical therapists; (3) dual-arm training, either coupled in joint space or task space; (4) quantitative platform for giving instructions, providing assistance, exerting resistance, and collecting real-time data in kinematics, dynamics and biomechanics; (5) potential training protocol personalization; etc. However, in the rehabilitation robotics field, there are still many open problems. I am especially interested in: (1) compliant control, in high-dimensional multi-joint coordination condition; (2) assist-as-needed (AAN) control, in quantitative model-based approach and model-free approach; (3) dual-arm training, in both symmetric and asymmetric modes; (4) system integration, e.g., virtual reality (VR) serious games and graphical user interfaces (GUIs) design and development. Our dual-arm/hand robotic exoskeleton system, EXO-UL8, is in its 4th generation, with seven (7) arm degrees-of-freedom (DOFs) and one (1) DOF hand gripper enabling hand opening and closing on each side. While developing features on this research platform, I contributed to the robotics research field in the following aspects: (1) I designed and developed a series of eighteen (18) serious VR games and GUIs that could be used for interactive post-stroke rehabilitation training. The VR environment, together with the exoskeleton robot, provides patients and physical therapists a quantitative rehabilitation training platform with capability in real-time human performance data collection and analysis. (2) To provide better compliant control, my colleagues and I proposed and implemented two new admittance controllers, based on the work done by previous research group alumni. Both the hyper parameter-based and Kalman Filter-based admittance controllers have satisfactory heuristic performance, and the latter is more promising in future adaptation. Unlike many other upper-limb exoskeletons, our current system utilizes force and torque (F/T) sensors and position encoders only, no surface electromyography (sEMG) signals are used. It brings convenience to practical use, as well as technical challenges. (3) To provide better AAN control, which is still not well understood in the academia, I worked out a redundant version of modified dynamic manipulability ellipsoid (DME) model to propose an Arm Postural Stability Index (APSI) to quantify the difficulty heterogeneity of the 3D Cartesian workspace. The theoretical framework could be used to teach the exoskeleton where and when to provide assistance, and to guide the virtual reality where to add new minimal challenges to stroke patients. To the best of my knowledge, it is also for the first time that human arm redundancy resolution was investigated when arm gravity is considered. (4) For the first time, my colleagues and I have done a pilot study on asymmetric dual-arm training using the exoskeleton system on one (1) post-stroke patient. The exoskeleton on the healthy side could trigger assistance for that on the affected side, and validates that the current mechanism/control is eligible for asymmetric dual-arm training. (5) Other works of mine include: activities of daily living (ADLs) data visualization for VR game difficulty design; human arm synergy modeling; dual-arm manipulation taxonomy classification (on-going work).
Book Synopsis Development of Discrete Event System (DES)-based Controller for Robot-assisted Upper Limb Rehabilitation Platform by : Sado Fatai
Download or read book Development of Discrete Event System (DES)-based Controller for Robot-assisted Upper Limb Rehabilitation Platform written by Sado Fatai and published by . This book was released on 2015 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Neurorehabilitation Technology by : David J. Reinkensmeyer
Download or read book Neurorehabilitation Technology written by David J. Reinkensmeyer and published by Springer Nature. This book was released on 2022-11-15 with total page 771 pages. Available in PDF, EPUB and Kindle. Book excerpt: This revised, updated, and substantially expanded third edition provides an accessible, practical overview of major areas of research, technical development and clinical application in the field of neurorehabilitation movement therapy. The initial section provides the basic framework and a rationale for technology application in movement therapy by summarizing recent findings in neuroplasticity and motor learning. The following section provides a detailed overview of the movement physiology of various neurologic conditions, illustrating how this knowledge has been used to design various neurorehabilitation technologies. The third section then explains the principles of human-machine interaction for movement rehabilitation. The fourth section provides an overview of assessment technology and predictive modeling in neurorehabilitation. The fifth section provides a survey of technological approaches to neurorehabilitation, including spinal cord stimulation, functional electrical stimulation, virtual reality, wearable sensing, brain computer interfaces, mobile technologies, and telerehabilitation. The final two sections examine in greater detail the ongoing revolution in robotic therapy for upper extremity movement and walking, respectively. The promises and limitations of these technologies in neurorehabilitation are discussed, including an Epilogue which debates the impact and utility of robotics for neurorehabilitation. Throughout the book the chapters provide detailed practical information on state-of-the-art clinical applications of these devices following stroke, spinal cord injury, and other neurologic disorders and future developments in the field. The text is illustrated throughout with photographs and schematic diagrams which serve to clarify the information for the reader. Neurorehabilitation Technology, Third Edition is a valuable resource for neurologists, biomedical engineers, roboticists, rehabilitation specialists, physiotherapists, occupational therapists and those training in these fields. Chapter “Spinal Cord Stimulation to Enable Leg Motor Control and Walking in People with Spinal Cord Injury is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Book Synopsis American Doctoral Dissertations by :
Download or read book American Doctoral Dissertations written by and published by . This book was released on 1997 with total page 806 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Dissertation Abstracts International by :
Download or read book Dissertation Abstracts International written by and published by . This book was released on 1998 with total page 790 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis 2005 IEEE 9th International Conference on Rehabilitation Robotics by :
Download or read book 2005 IEEE 9th International Conference on Rehabilitation Robotics written by and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 2005 with total page 620 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Clinical Pathways in Stroke Rehabilitation by : Thomas Platz
Download or read book Clinical Pathways in Stroke Rehabilitation written by Thomas Platz and published by Springer Nature. This book was released on 2021-01-14 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book focuses on practical clinical problems that are frequently encountered in stroke rehabilitation. Consequences of diseases, e.g. impairments and activity limitations, are addressed in rehabilitation with the overall goal to reduce disability and promote participation. Based on the available best external evidence, clinical pathways are described for stroke rehabilitation bridging the gap between clinical evidence and clinical decision-making. The clinical pathways answer the questions which rehabilitation treatment options are beneficial to overcome specific impairment constellations and activity limitations and are well acceptable to stroke survivors, as well as when and in which settings to provide rehabilitation over the course of recovery post stroke. Each chapter starts with a description of the clinical problem encountered. This is followed by a systematic, but concise review of the evidence (RCTs, systematic reviews and meta-analyses) that is relevant for clinical decision-making, and comments on assessment, therapy (training, technology, medication), and the use of technical aids as appropriate. Based on these summaries, clinical algorithms / pathways are provided and the main clinical-decision situations are portrayed. The book is invaluable for all neurorehabilitation team members, clinicians, nurses, and therapists in neurology, physical medicine and rehabilitation, and related fields. It is a World Federation for NeuroRehabilitation (WFNR) educational initiative, bridging the gap between the rapidly expanding clinical research in stroke rehabilitation and clinical practice across societies and continents. It can be used for both clinical decision-making for individuals and as well as clinical background knowledge for stroke rehabilitation service development initiatives.
Book Synopsis The Sensing Brain: The Role of Sensation in Rehabilitation and Training by : Susan Hillier
Download or read book The Sensing Brain: The Role of Sensation in Rehabilitation and Training written by Susan Hillier and published by Frontiers Media SA. This book was released on 2021-03-04 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
