Rehabilitation of hand function is challenging, and only few studies have investigated robotassisted rehabilitation focusing on distal joints of the upper limb. This paper investigates the feasibility of using the HapticKnob, a table-top end-effector device, for robot-assisted rehabilitation of grasping and forearm pronation/supination, two important functions for activities of daily li-ving involving the hand, and which are often impaired in chronic stroke patients. It evaluates the effectiveness of this device for improving hand function and the transfer of improvement to arm function. Methods A single group of fifteen chronic stroke patients with impaired arm and hand functions (Fugl-Meyer motor assessment scale (FM) 10-45/66) participated in a 6-week 3-hours/week reha-bilitation program with the HapticKnob. Outcome measures consisted primarily of the FM and Motricity Index (MI) and their respecti-ve subsections related to distal and proximal arm function, and were assessed at the beginning, end of treatment and in a 6-weeks followup. Results Thirteen subjects successfully completed robot-assisted therapy, with significantly improved hand and arm motor functions, demonstrated by an average 3.00 points increase on the FM and 4.55 on the MI at the completion of the therapy (4.85 FM and 6.84 MI six weeks posttherapy). Improvements were observed both in distal and proximal components of the clinical scales at the completion of the study (2.00 FM wrist/hand, 2.55 FM shoulder/elbow, 2.23 MI hand and 4.23 MI shoulder/elbow). In addition, impro-vements in hand function were observed, as measured by the Motor Assessment Scale, grip force, and a decrease in arm muscle spa-sticity. These results were confirmed by motion data collected by the robot.Conclusions The results of this study show the feasi-bility of this robot-assisted therapy with patients presenting a large range of impairment levels. A significant homogeneous impro-vement in both hand and arm function was observed, which was maintained 6 weeks after end of the therapy.

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This paper presents the development of an arm exoskeleton for displaying a force feedback generated from virtual reality. The developed arm exoskeleton allows the user to obtain the sensation of touch along the joints: wrist, elbow and shoulder. To represent the most realistic touching of virtual object, weight of the device and viscosity of each joint should be compensated. Based on the model derived by Lagrange equation, the model can perform quite well however it is sensitive to model uncertainties of mass and joint friction. A torque disturbance observer for robot manipulator is applied to estimate not only the disturbance at each joint, but also the reaction torque from the user.

Категория: Ищем научные статьи | Нет комментариев »

ВВС США отдали компании AeroVironment контракт стоимостью $ 5млн. на беспилотник Switchblade и исполнение сервисных работ. Switchblade, возможно, будут направлены в следующем году в специальные подразделения. Отметим, что мини-БПЛА Switchblade был представлена впервые выставке в Сан-Диего в середине 2008 года.

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 – The purpose of this paper is to review developments on the internet, especially those of general cybernetic interest.

Design/methodology/approach – The need to reduce carbon emissions on account of the atmospheric greenhouse effect has recently been queried, but observations of effects on the oceans confirm its continuing importance. A means of viewing new buildings in the Massachusetts Institute of Technology, the site of origin of much of cybernetics, is indicated, as is also a remarkable development of an advanced prosthetic device. Sources of information about the recent WikiLeaks or “Cablegate” events are reviewed.

Findings – Effects of acidification on ocean biota are serious. New buildings on the MIT campus are not following the example of the bizarre Stata Center. The robotic exoskeleton is a valuable development made under unusual conditions. No attempt is made to judge ethics or long-term effects of WikiLeaks activity but it is shown to be wide ranging and to be defended eloquently by its main operative.

Practical implications – The need to reduce carbon emissions is confirmed by studies of the oceans, probably among other factors. The exoskeleton development is a valuable addition to prosthetic technology as well as an example of what can be done with limited resources.

Originality/value – It is hoped this is a valuable periodic review.

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Специалисты Массачусетского технологического института (MIT) разработали микросхему, которая успешно моделирует связи между нейронами. Эта разработка не просто упражнение по копированию принципов работы мозга. Она может быть использована для вполне прикладных вещей вроде создания искусственной сетчатки.

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Категория: Управление | 6 комментариев »