This document presents the results of work package WP1 State of the art update where the more recent achievements in the scientific and technological domains addressed by the SATIN project are described. In particular, the domains addressed are the following: haptic technology, sound technology, visualization technology, shape modelling technology, and Human Computer Interaction.

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a haptic interface is made of
— a mechanical position tracker
— actuated joints
it is just a robot attached to a human. Locomotion interfaces refers to interfaces involving the human body /legs/feet and to natural or induced locomotion.

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Few of us are aware of the complex interactions between neural, mechanical, and sensory systems required to perform a task as simple as picking up a ball. To create a prosthetic arm capable of natural movement, it is necessary to mimic these sophisticated systems, as well as the intricate interactions between them, using cutting-edge actuators, sensors, microprocessors, and embedded control software. That was the challenge we faced when we embarked on the Defense Advanced Research Projects Agency (DARPA) Revolutionizing Prosthetics program.

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This paper presents the design and modeling results of an upper extre-mity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabili-tation training for weak and injured people without the continuous presence of a therapist. The exoske-leton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users.

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Background: Robot-assisted therapy offers a promising approach to neurorehabilitation, particularly for severely to moderately im-paired stroke patients. The objective of this study was to investigate the effects of intensive arm training on motor performance in four chronic stroke patients using the robot ARMin II. Methods: ARMin II is an exoskeleton robot with six degrees of freedom (DOF) moving shoulder, elbow and wrist joints. Four volunteers with chronic (≥ 12 months post-stroke) left side hemiparesis and dif-ferent levels of motor severity were enrolled in the study. They received robotassisted therapy over a period of eight weeks, three to four therapy sessions per week, each session of one hour. Patients 1 and 4 had four one-hour training sessions per week and patients 2 and 3 had three onehour training sessions per week. Primary outcome variable was the Fugl-Meyer Score of the upper extremity Assessment (FMA), secondary outcomes were the Wolf Motor Function Test (WMFT), the Catherine Bergego Scale (CBS), the Maximal Voluntary Torques (MVTs) and a questionnaire about ADL-tasks, progress, changes, motivation etc. Results: Three out of four patients showed significant improvements (p < 0.05) in the main outcome. The improvements in the FMA scores were aligned with the objective results of MVTs. Most improvements were maintained or even increased from discharge to the six-month follow-up. Conclusion: Data clearly indicate that intensive arm therapy with the robot ARMin II can significantly improve motor function of the paretic arm in some stroke patients, even those in a chronic state. The findings of the study provide a basis for a subsequent controlled randomized clinical trial. (далее…)

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