DOCSLIB.ORG

Rehabilitation Robotics

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Rehabilitation Robotics Full text available at: http://dx.doi.org/10.1561/2300000028 Rehabilitation Robotics Robert Riener Sensory-Motor Systems Lab ETH Zurich Switzerland and Medical Faculty University of Zurich Switzerland Boston — Delft Full text available at: http://dx.doi.org/10.1561/2300000028 Foundations and TrendsR in Robotics Published, sold and distributed by: now Publishers Inc. PO Box 1024 Hanover, MA 02339 United States Tel. +1-781-985-4510 www.nowpublishers.com [email protected] Outside North America: now Publishers Inc. PO Box 179 2600 AD Delft The Netherlands Tel. +31-6-51115274 The preferred citation for this publication is R. Riener. Rehabilitation Robotics. Foundations and TrendsR inRobotics,vol.3, nos. 1–2, pp. 1–137, 2012. R This Foundations and Trends issue was typeset in LATEX using a class file designed by Neal Parikh. Printed on acid-free paper. ISBN: 978-1-60198-741-9 c 2013 R. Riener All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, mechanical, photocopying, recording or otherwise, without prior written permission of the publishers. Photocopying. In the USA: This journal is registered at the Copyright Clearance Cen- ter, Inc., 222 Rosewood Drive, Danvers, MA 01923. Authorization to photocopy items for internal or personal use, or the internal or personal use of specific clients, is granted by now Publishers Inc for users registered with the Copyright Clearance Center (CCC). The ‘services’ for users can be found on the internet at: www.copyright.com For those organizations that have been granted a photocopy license, a separate system of payment has been arranged. Authorization does not extend to other kinds of copy- ing, such as that for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. In the rest of the world: Permission to pho- tocopy must be obtained from the copyright owner. Please apply to now Publishers Inc., PO Box 1024, Hanover, MA 02339, USA; Tel. +1 781 871 0245; www.nowpublishers.com; [email protected] now Publishers Inc. has an exclusive license to publish this material worldwide. Permission to use this content must be obtained from the copyright license holder. Please apply to now Publishers, PO Box 179, 2600 AD Delft, The Netherlands, www.nowpublishers.com; e-mail: [email protected] Full text available at: http://dx.doi.org/10.1561/2300000028 Foundations and TrendsR in Robotics Volume 3, Issues 1–2, 2012 Editorial Board Editors-in-Chief Henrik Christensen Roland Siegwart Georgia Institute of Technology ETH Zurich United States Switzerland Editors Minoru Asada Simon Lacroix Osaka University Local Area Augmentation System Antonio Bicchi Christian Laugier University of Pisa INRIA Aude Billard Steve LaValle EPFL UIUC Cynthia Breazeal Yoshihiko Nakamura MIT University of Tokyo Oliver Brock Brad Nelson TU Berlin ETH Zurich Wolfram Burgard Paul Newman University of Freiburg Oxford University Udo Frese Daniela Rus University of Bremen MIT Ken Goldberg Giulio Sandini UC Berkeley University of Genova Hiroshi Ishiguro Sebastian Thrun Osaka University Stanford University Makoto Kaneko Manuela Veloso Osaka University Carnegie Mellon University Danica Kragic Markus Vincze KTH Stockholm Vienna University Vijay Kumar Alex Zelinsky University of Pennsylvania CSIRO Full text available at: http://dx.doi.org/10.1561/2300000028 Editorial Scope Topics Foundations and TrendsR in Robotics publishes survey and tutorial articles in the following topics: • Mathematical modelling • Software systems and architectures • Kinematics • Sensors and estimation • Dynamics • Planning and control • • Estimation methods Human-robot interaction • Industrial robotics • Artificial intelligence in robotics • Service robotics Information for Librarians Foundations and TrendsR in Robotics, 2012, Volume 3, 4 issues. ISSN paper version 1935-8253. ISSN online version 1935-8261. Also available as a combined paper and online subscription. Full text available at: http://dx.doi.org/10.1561/2300000028 Foundations and TrendsR in Robotics Vol. 3, Nos. 1–2 (2012) 1–137 c 2013 R. Riener DOI: 10.1561/2300000028 Rehabilitation Robotics Robert Riener Sensory-Motor Systems Lab, Department of Health Sciences and Technology, ETH Zurich, Switzerland and Spinal Cord Injury Center, University Hospital Balgrist, Medical Faculty, University of Zurich, Switzerland Full text available at: http://dx.doi.org/10.1561/2300000028 Contents 1 Introduction 3 1.1Sociomedicalneedandmotivation............. 3 1.2 Natural and artificial mechanisms of movement restoration 4 1.3Rationaleformovementtherapy.............. 5 1.4 Neuronal basis underlying movement training . 6 1.5Rationaleforrobot-aidedtraining.............. 7 1.6 Definition of “Rehabilitation Robotics” and scope . 9 2 Basic Design Criteria 12 2.1Therapeuticvs.assistivesystems.............. 12 2.2Robotactuationandpatientinteraction.......... 13 2.3Robotcomplexity...................... 15 2.4Exoskeletalvs.endeffector-basedapproach......... 16 2.5Robotcosts......................... 19 3 Examples of Rehabilitation Robots 20 3.1Automatedgaittrainingdevices.............. 20 3.2Bodyweightsupportsystems................ 26 3.3Wearabledevicesforgaitassistance............ 31 3.4 Automated training devices for the upper extremities . 40 3.5Devicesforarmassistance.................. 50 ii Full text available at: http://dx.doi.org/10.1561/2300000028 iii 3.6Wearabledevicesforarmassistance............ 52 3.7Sociallyassistiverobots................... 54 4 Control Strategies 56 4.1Conventionalcontrollers................... 56 4.2Patientcooperativecontrollers............... 59 4.3Bio-cooperativestrategies.................. 73 5 Robot-Aided Assessment 77 5.1Rationale........................... 77 5.2 Mapping quantitative data to clinical scores . 78 5.3Automatedspasticityassessment.............. 80 5.4Automatedjointsynergyassessment............ 82 5.5 Lower extremity assessments with the Lokomat . 83 5.6UpperextremityassessmentswithARMin......... 85 6 Biofeedback and Augmented Feedback Methods 89 6.1Biofeedback......................... 89 6.2Augmentedfeedback.................... 92 7 Clinical Outcomes 93 7.1 Robot-aided Gait rehabilitation . ......... 93 7.2 Upper extremity rehabilitation . ......... 96 8 Conclusions 99 Acknowlegements 100 References 102 Full text available at: http://dx.doi.org/10.1561/2300000028 Abstract Robotic rehabilitation devices have become increasingly important and popular in clinical and rehabilitation environments to facilitate prolonged duration of training, increased number of repetitions of movements, improved patient safety, less strenuous operation by therapists, and eventually, to improve the therapeutic outcome. Novel assistive technologies are becoming available as wearable devices that allow transferring the therapeutic training into home and work envi- ronments or assist the patient in day-to-day activities. This monograph summarizes the rationale for robot-assisted therapy and presents the technological steps in the evolution of the design and development of lower and upper extremity rehabilitation robots. After presenting the basic mechanisms of natural and artificial movement restoration, and the rationale of robot-aided movement therapy, this monograph shows several design criteria that are relevant for the development of effective and safe rehabilitation robots. The robotic design depends on the kind of application (i.e., therapeutic or assistive), and varies with respect to different kinds of actuation and patient interaction principles, robotic complexities, and kinematic approaches. Several examples of gait and arm rehabilitation robots are presented that are in developmental status or already commercially available. Novel patient-cooperative strategies are presented, such as impedance control, assistance-as- needed control and tunnel (path) control. Such patient-cooperative strategies can increase movement variability and patient activity; both can have a positive effect on the therapeutic outcome. Special bio-cooperative control strategies and biofeedback methods are intro- duced that increase engagement and motivation during the therapy session. Standardized assessment tools implemented in robotic devices have shown to be a convenient and accurate method to evaluate the rehabilitation process of individual patients and entire patient groups, which can allow therapists and researchers to perform better intra and inter-subject comparisons. This monograph, which in several parts has an emphasis on the work from the author’s laboratory, finishes with a short overview about existing clinical trials that have been performed Full text available at: http://dx.doi.org/10.1561/2300000028 showing that the application of rehabilitation devices is at least as effective as the application of conventional therapies. It concludes with the finding that further clinical studies are required to find predictors for the success of a robot-aided treatment. R. Riener. Rehabilitation Robotics. Foundations and TrendsR in Robotics, vol. 3, nos. 1–2, pp. 1–137, 2012. DOI: 10.1561/2300000028. Full text available at: http://dx.doi.org/10.1561/2300000028 1 Introduction 1.1 Sociomedical need and motivation Loss of the abilities to walk and grasp represents a major disability for millions of individuals worldwide, and a major expense for health care and social support systems. More than 700,000 people in the U.S. suffer from a stroke each year; 60–75% of these individuals
Load more

Recommended publications
  • Robotic Devices for Paediatric Rehabilitation: a Review of Design Features
    Gonzalez et al. BioMed Eng OnLine (2021) 20:89 https://doi.org/10.1186/s12938-021-00920-5 BioMedical Engineering OnLine REVIEW Open Access Robotic devices for paediatric rehabilitation: a review of design features Alberto Gonzalez1, Lorenzo Garcia1* , Jef Kilby1 and Peter McNair2 *Correspondence: [email protected] Abstract 1 BioDesign Lab, School Children with physical disabilities often have limited performance in daily activities, of Engineering, Computer and Mathematical Sciences, hindering their physical development, social development and mental health. There- Auckland University fore, rehabilitation is essential to mitigate the adverse efects of the diferent causes of of Technology, Auckland, physical disabilities and improve independence and quality of life. In the last decade, New Zealand Full list of author information robotic rehabilitation has shown the potential to augment traditional physical reha- is available at the end of the bilitation. However, to date, most robotic rehabilitation devices are designed for adult article patients who difer in their needs compared to paediatric patients, limiting the devices’ potential because the paediatric patients’ needs are not adequately considered. With this in mind, the current work reviews the existing literature on robotic rehabilitation for children with physical disabilities, intending to summarise how the rehabilitation robots could fulfl children’s needs and inspire researchers to develop new devices. A literature search was conducted utilising the Web of Science, PubMed and Scopus databases. Based on the inclusion–exclusion criteria, 206 publications were included, and 58 robotic devices used by children with a physical disability were identifed. Diferent design factors and the treated conditions using robotic technology were compared.
    [Show full text]
  • Anindo Roy, Ph.D. Associate Professor, Department of Neurology University of Maryland School of Medicine
    Curriculum Vitae Anindo Roy, Ph.D. Associate Professor, Department of Neurology University of Maryland School of Medicine Adjunct Associate Professor, Department of Mechanical Engineering Faculty, Maryland Robotics Center, Institute for Systems Research Lecturer, Office of Advanced Engineering Education Affiliate, Department of Bioengineering University of Maryland, College Park Date: April 29, 2017 Contact Information • Department of Neurology, University of Maryland School of Medicine, 110 S Paca St, Baltimore, MD 21210 • Phone: 410-200-0894 • Fax: 410-605-7913 • Email: [email protected] • Foreign Languages: Hindi (native, fluent), Bengali (native, fluent) Education Jul 1998 Bachelor of Technology (B.Tech.) Major: Electrical Engineering JMI University, New Delhi, India Department of Electrical Engineering, Faculty of Engineering and Technology Senior Design Project: “Design of a Magnetic Levitation System” Jan 2000 Master of Philosophy (M.Phil.) Engineering (Major: Control Systems) University of Sussex, Brighton, Sussex, UK Department of Engineering and Design, School of Engineering Thesis: “Design of Optimal Sampled Data Control Systems” Thesis Advisor: Derek P. Atherton, Ph.D., D.Sc. May 2005 Doctor of Philosophy (Ph.D.) Applied Science (Major: Engineering Science and Systems) University of Arkansas at Little Rock, Little Rock, Arkansas, USA Department of Applied Science, College of Engineering & Information Technology Thesis: “Robust Stabilization of Multi-Body Biomechanical Systems: A Control Theoretic Approach” Thesis Advisor: Kamran Iqbal, Ph.D. Post Graduate Education and Training 2005-2006 Post-Doctoral Fellow (Neuromechanics) Georgia Institute of Technology (GeorgiaTech)/Emory University Laboratory for Neuroengineering (Neuromechanics Group) Anindo Roy, Page 1 of 18 Department of Biomedical Engineering, GeorgiaTech School of Engineering/Emory University School of Medicine, Atlanta, Georgia, USA Mentor: Lena Ting, Ph.D.
    [Show full text]
  • Application of Artificial Intelligence (AI) in Prosthetic and Orthotic Rehabilitation Smita Nayak and Rajesh Kumar Das
    Chapter Application of Artificial Intelligence (AI) in Prosthetic and Orthotic Rehabilitation Smita Nayak and Rajesh Kumar Das Abstract Technological integration of Artificial Intelligence (AI) and machine learning in the Prosthetic and Orthotic industry and in the field of assistive technology has become boon for the Persons with Disabilities. The concept of neural network has been used by the leading manufacturers of rehabilitation aids for simulating various anatomical and biomechanical functions of the lost parts of the human body. The involvement of human interaction with various agents’ i.e. electronic circuitry, software, robotics, etc. has made a revolutionary impact in the rehabilita- tion field to develop devices like Bionic leg, mind or thought control prosthesis and exoskeletons. Application of Artificial Intelligence and robotics technology has a huge impact in achieving independent mobility and enhances the quality of life in Persons with Disabilities (PwDs). Keywords: artificial neural network, deep learning, brain computer Interface (BCI), electromyography (EMG), electroencephalogram (EEG) 1. Introduction Human is the most intelligent creature in the planet for their brain power and neural network. The human brain is extremely complex with more than 80 billion neurons and trillion of connections [1]. Simulation scales can array from molecular and genetic expressions to compartment models of subcellular volumes and individual neurons to local networks and system models [2]. Deep Neural Network nodes are an over simplification of how brain synapses work. Signal transmission in the brain is dominated by chemical synapses, which release chemical substances and neurotrans- mitters to convert electrical signals via voltage-gated ion channels at the presynaptic cleft into post-synaptic activity.
    [Show full text]
  • A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance
    actuators Review A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance Dimas Adiputra 1,2,† , Nurhazimah Nazmi 1,†, Irfan Bahiuddin 3,† , Ubaidillah Ubaidillah 4,†, Fitrian Imaduddin 4,†, Mohd Azizi Abdul Rahman 1,*,†, Saiful Amri Mazlan 1,† and Hairi Zamzuri 1 1 Advanced Vehicle System Laboratory, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Kuala Lumpur 54100, Malaysia; [email protected] (D.A.); [email protected] (N.N.); [email protected] (S.A.M.); [email protected] (H.Z.) 2 Electrical Engineering Department, Institut Teknologi Telkom Surabaya, Surabaya 60234, Indonesia 3 Vocational School, Universitas Gadjah Mada, Jogjakarta 55281, Indonesia; [email protected] 4 Mechanical Engineering Department, Universitas Sebelas Maret, Surakarta 57126, Indonesia; [email protected] (U.U.); fi[email protected] (F.I.) * Correspondence: [email protected] † These authors contributed equally to this work. Received: 20 December 2018; Accepted: 24 January 2019; Published: 28 January 2019 Abstract: In the past decade, advanced technologies in robotics have been explored to enhance the rehabilitation of post-stroke patients. Previous works have shown that gait assistance for post-stroke patients can be provided through the use of robotics technology in ancillary equipment, such as Ankle Foot Orthosis (AFO). An AFO is usually used to assist patients with spasticity or foot drop problems. There are several types of AFOs, depending on the flexibility of the joint, such as rigid, flexible rigid, and articulated AFOs. A rigid AFO has a fixed joint, and a flexible rigid AFO has a more flexible joint, while the articulated AFO has a freely rotating ankle joint, where the mechanical properties of the AFO are more controllable compared to the other two types of AFOs.
    [Show full text]
  • History and Future of Rehabilitation Robotics Christopher Frumento Worcester Polytechnic Institute
    Worcester Polytechnic Institute DigitalCommons@WPI Assistive Technology Resource Center Projects Assistive Technology Resource Center 3-2-2010 History and Future of Rehabilitation Robotics Christopher Frumento Worcester Polytechnic Institute Ethan Messier Worcester Polytechnic Institute Victor Montero Worcester Polytechnic Institute Follow this and additional works at: http://digitalcommons.wpi.edu/atrc-projects Part of the Biomechanical Engineering Commons, and the Biomedical Engineering and Bioengineering Commons Suggested Citation Frumento, Christopher , Messier, Ethan , Montero, Victor (2010). History and Future of Rehabilitation Robotics. Retrieved from: http://digitalcommons.wpi.edu/atrc-projects/42 This Other is brought to you for free and open access by the Assistive Technology Resource Center at DigitalCommons@WPI. It has been accepted for inclusion in Assistive Technology Resource Center Projects by an authorized administrator of DigitalCommons@WPI. Project Number: AHH - 0901 History and Future of Rehabilitation Robotics An Interactive Qualifying Project Report submitted to the Faculty of WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by ____________________ _________________ ___________________ Christopher Frumento Ethan Messier Victor Montero Submitted: March 2, 2010 __________________________ Prof. Allen H. Hoffman, Advisor Abstract With recent technological advances it has become possible to develop advanced artificial limbs for people with disabilities. This report gives a brief history of the field of Rehabilitation Robotics, and then reviews eight currently produced (either experimentally or commercially) robotic devices designed to assist patients with limb loss or in need of skeletal-muscular assistance. After detailing the use and operation of each device, this report assesses each device on the basis of eight criteria: cost, accessibility, maintainability, training, adaptability, safety, environmental concerns and technological possibility.
    [Show full text]
  • View Board for Human When the Pushbutton Plunger Was Fully Depressed, a Con- Subject Research
    Journal of NeuroEngineering and Rehabilitation BioMed Central Research Open Access The effects of powered ankle-foot orthoses on joint kinematics and muscle activation during walking in individuals with incomplete spinal cord injury Gregory S Sawicki*1,2, Antoinette Domingo1 and Daniel P Ferris1,3,4 Address: 1Division of Kinesiology, University of Michigan, Ann Arbor, MI, USA, 2Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA, 3Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA and 4Department of Physical Medicine and Rehabilitation, Ann Arbor, USA Email: Gregory S Sawicki* - [email protected]; Antoinette Domingo - [email protected]; Daniel P Ferris - [email protected] * Corresponding author Published: 28 February 2006 Received: 31 October 2005 Accepted: 28 February 2006 Journal of NeuroEngineering and Rehabilitation2006, 3:3 doi:10.1186/1743-0003-3-3 This article is available from: http://www.jneuroengrehab.com/content/3/1/3 © 2006Sawicki et al; licensee BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Background: Powered lower limb orthoses could reduce therapist labor during gait rehabilitation after neurological injury. However, it is not clear how patients respond to powered assistance during stepping. Patients might allow the orthoses to drive the movement pattern and reduce their muscle activation. The goal of this study was to test the effects of robotic assistance in subjects with incomplete spinal cord injury using pneumatically powered ankle-foot orthoses.
    [Show full text]
  • History and Future of Rehabilitation Robotics
    Project Number: AHH - 0901 History and Future of Rehabilitation Robotics An Interactive Qualifying Project Report submitted to the Faculty of WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by ____________________ _________________ ___________________ Christopher Frumento Ethan Messier Victor Montero Submitted: March 2, 2010 __________________________ Prof. Allen H. Hoffman, Advisor Abstract With recent technological advances it has become possible to develop advanced artificial limbs for people with disabilities. This report gives a brief history of the field of Rehabilitation Robotics, and then reviews eight currently produced (either experimentally or commercially) robotic devices designed to assist patients with limb loss or in need of skeletal-muscular assistance. After detailing the use and operation of each device, this report assesses each device on the basis of eight criteria: cost, accessibility, maintainability, training, adaptability, safety, environmental concerns and technological possibility. Each device was given a ranking based on those criteria, and on the basis of those rankings, predictions were made as which technologies are most successful today and most likely to be the basis of future development. This report concludes that the technology contained in the I-Limb is the most likely to be enhanced and further developed. ii | P a g e Table of Contents Introduction ..................................................................................................................................................
    [Show full text]
  • Clinical Use of Robots As a Part of Rehabilitation Medicine
    02 Brain Neurorehabil. 2017 Mar;10(1):e7 https://doi.org/10.12786/bn.2017.10.e7 pISSN 1976-8753·eISSN 2383-9910 Brain & NeuroRehabilitation Review Clinical Use of Robots as a Part of Rehabilitation Medicine Kyung Hee Do, Min Ho Chun Received: Mar 10, 2017 Highlights Revised: Apr 11, 2017 Accepted: Apr 11, 2017 • Robot has been developed and used variously as a part of rehabilitation medicine. Correspondence to • Robot-assisted rehabilitation can be classified as therapeutic and assistive robots. Min Ho Chun • We review the clinical use of robots in patients with stroke and Parkinson's disease. Department of Physical Medicine and Rehabilitation, Asan Medical Center, University of Ulsan College of Medicine, 88 Olympic-ro 43-gil, Songpa-gu, Seoul 05505, Korea. Tel: +82-2-3010-3796 Fax: 82-2-2225-4602 E-mail: [email protected] Copyright © 2017. Korea Society for Neurorehabilitation i 02 Brain Neurorehabil. 2017 Mar;10(1):e7 https://doi.org/10.12786/bn.2017.10.e7 pISSN 1976-8753·eISSN 2383-9910 Brain & NeuroRehabilitation Review Clinical Use of Robots as a Part of Rehabilitation Medicine Kyung Hee Do,1 Min Ho Chun2 1Department of Physical Medicine and Rehabilitation, Veterans Health Service Medical Center, Seoul, Korea 2Department of Physical Medicine and Rehabilitation, Asan Medical Center, University of Ulsan College of Medicine, Seoul, Korea Received: Mar 10, 2017 ABSTRACT Revised: Apr 11, 2017 Accepted: Apr 11, 2017 During recent years, many robots have been used for rehabilitation therapy and the Correspondence to rehabilitation robots have also advanced considerably. These robots can eliminate the Min Ho Chun repetitive tasks of the occupational or physical therapist and provide high-intensity and high- Department of Physical Medicine and dosage training for the patients.
    [Show full text]
  • Review Article Hand Rehabilitation Robotics on Poststroke Motor Recovery
    Hindawi Behavioural Neurology Volume 2017, Article ID 3908135, 20 pages https://doi.org/10.1155/2017/3908135 Review Article Hand Rehabilitation Robotics on Poststroke Motor Recovery Zan Yue, Xue Zhang, and Jing Wang School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China Correspondence should be addressed to Jing Wang; [email protected] Received 23 May 2017; Revised 26 July 2017; Accepted 9 August 2017; Published 2 November 2017 Academic Editor: Xiaoling Hu Copyright © 2017 Zan Yue et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers’ view or on the training paradigms on the clinicians’ view, while these two parts are interconnected and both important for designers and clinicians. In this review, we explore the current literature surrounding hand rehabilitation robots, to help designers make better choices among varied components and thus promoting the application of hand rehabilitation robots. An overview of hand rehabilitation robotics is provided in this paper firstly, to give a general view of the relationship between subjects, rehabilitation theories, hand rehabilitation robots, and its evaluation. Secondly, the state of the art hand rehabilitation robotics is introduced in detail according to the classification of the hardware system and the training paradigm.
    [Show full text]
  • The Palo Alto VA / Stanford Experience
    Department Veterans Affairs Journal of Rehabilitation Research and Development Vol . 37 No . 6, November/December 2000 Pages 663-673 Development of robots for rehabilitation therapy : The Palo Alto VA/Stanford experience Charles G. Burgar, MD; Peter S. Lum, PhD; Peggy C. Shor, OTR; H.F. Machiel Van der Loos, PhD Rehabilitation Research and Development Center of Excellence on Mobility, Department of Veterans Affairs Palo Alto Health Care System, Palo Alto, CA 94304 ; Division of Physical Medicine and Rehabilitation, Department of Functional Restoration, Stanford University, Stanford, CA 94305 Abstract—For over 25 years, personal assistant robots for Key words : cerebrovascular accident, hemiplegia, mechatronics, severely disabled individuals have been in development. More neurorehabilitation, occupational therapy, physical therapy, recently, using robots to deliver rehabilitation therapy has been rehabilitation, robotics, stroke, therapeutic exercise, upper limb. proposed. This paper summarizes the development and clinical testing of three mechatronic systems for post-stroke therapy conducted at the VA Palo Alto in collaboration with Stanford BACKGROUND University. We describe the philosophy and experiences that guided their evolution . Unique to the Palo Alto approach is pro- Collaborative research and development efforts in vision for bimanual, mirror-image, patient-controlled therapeu- the area of rehabilitation robotics were initiated in 1978 tic exercise . Proof-of-concept was established with a 2-degree-of-freedom (DOF) elbow/forearm manipulator . Tests between the Department of Veterans Affairs (VA) Palo of a second-generation therapy robot producing planar forearm Alto Health Care System and the School of Engineering movements in 19 hemiplegic and control subjects confirmed at Stanford University . In that era, the dominant philoso- the validity and reliability of interaction forces during mechan- phy was to attempt to replace lost or impaired anatomy.
    [Show full text]
  • A Review on Upper Limb Rehabilitation Robots
    applied sciences Review A Review on Upper Limb Rehabilitation Robots Hassan M. Qassim 1 and W. Z. Wan Hasan 2,3,* 1 Technical Engineering College of Mosul, Northern Technical University, Mosul 41001, Iraq; [email protected] 2 Department of Electrical and Electronic Engineering, Faculty of Engineering, UPM, Serdang 43400, Malaysia 3 Institute of Advanced Technology (ITMA), UPM, Serdang 43400, Malaysia * Correspondence: [email protected] Received: 19 August 2020; Accepted: 19 September 2020; Published: 6 October 2020 Abstract: Rehabilitation is the process of treating post-stroke consequences. Impaired limbs are considered the common outcomes of stroke, which require a professional therapist to rehabilitate the impaired limbs and restore fully or partially its function. Due to the shortage in the number of therapists and other considerations, researchers have been working on developing robots that have the ability to perform the rehabilitation process. During the last two decades, different robots were invented to help in rehabilitation procedures. This paper explains the types of rehabilitation treatments and robot classifications. In addition, a few examples of well-known rehabilitation robots will be explained in terms of their efficiency and controlling mechanisms. Keywords: exoskeleton; electromyograph; rehabilitation robots; stroke 1. Introduction Stroke is considered one of the leading causes of death; it comes in the third place after heart disease and cancer [1]. The World health organization (WHO) has defined stroke as a dysfunction of the brain that continues for more than one day. It has been reported that up to 30% of stroke patients suffer from permanent disabilities and up to 20% require intensive rehabilitation programs [2].
    [Show full text]
  • Human-Robot Interaction in Rehabilitation and Assistance: a Review
    Current Robotics Reports (2020) 1:131–144 https://doi.org/10.1007/s43154-020-00015-4 REHABILITATION AND ASSISTIVE ROBOTICS (M RAISON AND S ACHICHE, SECTION EDITORS) Human-Robot Interaction in Rehabilitation and Assistance: a Review Abolfazl Mohebbi1 Published online: 11 August 2020 # Springer Nature Switzerland AG 2020 Abstract Purpose of Review Research in assistive and rehabilitation robotics is a growing, promising, and challenging field emerged due to various social and medical needs such as aging populations, neuromuscular, and musculoskeletal disorders. Such robots can be used in various day-to-day scenarios or to support motor functionality, training, and rehabilitation. This paper reflects on the human-robot interaction perspective in rehabilitation and assistive robotics and reports on current issues and developments in the field. Recent Findings The survey on the literature reveals that new efforts are put on utilizing machine learning approaches alongside novel developments in sensing technology to adapt the systems with user routines in terms of activities for assistive systems and exercises for rehabilitation devices to fit each user’s need and maximize their effectiveness. Summary A review of recent research and development efforts on human-robot interaction in assistive and rehabilitation robotics is presented in this paper. First, different subdomains in assistive and rehabilitation robotic research are identified, and accord- ingly, a survey on the background and trends of such developments is provided. Keywords Human-robot interaction . Artificial intelligence . Human-centered design . Feedback control system . Assistive . Rehabilitation robotics Introduction active prosthetics or exoskeletons for assisting different sen- sorimotor functions such as arm, hand, leg, ankle [3, 4•].
    [Show full text]