A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer’s skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented.

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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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To strengthen fingers which are injured in an accident, a new type of SMA (shape memory alloy)-made dynamic splint used for finger joints is proposed.

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Many diseases and conditions can cause reduced motor function in joints throughout the body. This paper identifies such health issues that affect the function of the wrist and hand in particular. After identifying these conditions, a concept three degree of freedom (two DOFs of the wrist plus cylindrical grip) robotic exoskeleton design is presented that is intended to augment a patient’s remaining function and strength while remaining portable and lightweight. With this in mind, the device is intended to allow a patient to use and operate it independently, without the presence of a therapist. The mechanical design of the exoskeleton is described in depth, along with details of potential actuation methods. The main idea for control of the device is to detect small torque values as a patient attempts a movement and in turn predict what the intended outcome would be if the patient were at full strength. After processing this information the robot would assist the patient in facilitating the antici-pated movement. This is in contrast to alternate control methods, which rely primarily on electromyography (EMG) to detect signals to muscles that control certain movements. Electromyography can be unreliable because many of the conditions that cause debilitated function also cause an interruption or break in these signals.

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Background and Aim: Until recently, robotic devices for stroke rehabilitation had multi-joint designs that were often tethered to a treadmill for gait training. A new single-joint wearable robotic knee orthosis (RKO) has been designed that provides patient-initiated powered-assistance in untethered functional mobility. This case-series documents application of the wearable RKO in untethered functional training with stroke survivors.

Technique: Three ambulatory adult stroke survivors used a wearable RKO during 18 one-hour sessions within a six-week physical therapy programme. Subjects were assessed with a variety of balance, gait and functional tests including the Berg Balance Scale (BBS); six-minute walk test (6MWT); and Emory Functional Ambulation Profile (EFAP) at pre-treatment, post-treatment, one-month and three-month follow-up.

Discussion: All subjects improved balance, gait and functional performances with mean individual improvements of 12.6% for BBS, 12.0% for 6MWT and 16.7% for EFAP post-treatment. No adverse events occurred. These three stroke survivors may have benefited from the task-specific functional training programme augmented by RKO use.

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