This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed.

Категория: Ищем научные статьи | Нет комментариев »

This article describes the design and development of a thimble-sensor used for virtual object manipulation. This thimble is specially designed to provide the force information applied on an object by using four FlexiForce sensors and a fingertip orientation. Likewise, the aim of this paper is focused on the mechanical design, which relies on developing an adjustable mechanical tool non-finger-size dependant.

Категория: Ищем научные статьи | Нет комментариев »

Motivation and voluntary drive of patients can be improved by applying biofeedback during robot-assisted rehabilitation trainings. Biofeedback systems were traditionally based on theoretical assumptions. In this paper, we present a novel approach to calculate biofeedback during robot-assisted gait training. Our method was based on empirical data that were obtained from healthy subjects when simulating distinctive degrees of walking performance during robot-assisted gait training. This empirical data-based biofeedback (EDBF) method was evaluated with 18 subjects without gait disorders. A higher correlation between the subjects’ walking performance and biofeedback values was found for the EDBF method compared to a theory-based biofeedback approach.

Категория: Ищем научные статьи | Нет комментариев »

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 as part of rehabilitation treatment for the perspective of the patient and therapist. The aim of the study was to assess user acceptance of iPAM in terms of usability, safety, comfort and desire for future use with the context of using it as part of their treatment program. 16 participants with a range of arm impairments took part in an evaluation of the usability of the system. The study involved up to 20 hour long sessions of robot mediated exercise over the course of five to seven weeks. Results show a high level of acceptance across the participants, with patients feeling safe and comfortable when using the iPAM system and demonstrating a willingness to use the system as part of their rehabilitation treatment. Six practising therapists reported some enthusiasm for its use as an adjunctive treatment but identified issues such as cost and mechanisms to embed use of the system within the UK National Health Service infrastructure.

Категория: Ищем научные статьи | Нет комментариев »

The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.

Категория: Ищем научные статьи | Нет комментариев »