Rehabilitation Robotics Rehabilitation Robotics Edited by Sashi S Kommu I-Tech Education and Publishing IV Published by I-Tech Education and Publishing I-Tech Education and Publishing Vienna Austria Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the I-Tech Education and Publishing, authors have the right to repub- lish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2007 I-Tech Education and Publishing www.ars-journal.com Additional copies can be obtained from: [email protected] First published August 2007 Printed in Croatia A catalogue record for this book is available from the Austrian Library. Rehabilitation Robotics, Edited by Sashi S Kommu p. cm. ISBN 978-3-902613-01-1 1. Rehabilitation Robotics. 2. Applications. I. Sashi S Kommu V Preface The coupling of several areas of the medical field with recent advances in robotic systems has seen a paradigm shift in our approach to selected sectors of medical care, especially over the last decade. Rehabilitation medicine is one such area. The development of advanced robotic systems has ushered with it an exponential number of trials and experiments aimed at optimising restoration of quality of life to those who are physically debilitated. Despite these developments, there remains a paucity in the presentation of these advances in the form of a comprehensive tool. This book was written to present the most recent advances in rehabilitation robotics known to date from the perspective of some of the leading experts in the field and presents an interesting array of developments put into 33 comprehensive chapters. The chapters are presented in a way that the reader will get a seamless impression of the current concepts of optimal modes of both experimental and ap- plicable roles of robotic devices. Robotic instrument designs are combined with the results of experiments and trials in an applicable and practical way. The ethos of the book is unique in that there is a considerable emphasis on practical applicability in making real time changes to pa- tient care. The book begins by exploring the inherent and unique challenges of paediatric rehabilitation and presents the robotic platforms upon which promising preliminary results were noted. It then explores the key elements of robotic safety critical systems and risk management issues, an area of great concern in the medi- cal field at present. There is also an in depth look at the role of robotics from a mechanotronics and virtual reality standpoint. The concept of high safety rehabili- tation systems using functional fluid is explored and the platform for further stud- ies is introduced. The concept of powered wearable assistance and the role of exo- skeleton devices pave the brink of an exciting era in rehabilitation robotics. Additional concepts explored involve the interaction-control between robot, pa- tient and therapist. ‘Rehabilitation Robotics’ promises to be a valuable supplementary tool to all those involved in rehabilitation from the standpoint of the patient and affected families, the therapist and the robot. It also acts as a platform upon which researchers can gain a solid and evidence based approach towards the initiation of future projects. Editor Sashi S Kommu The Derriford Hospital and The Bristol Urological Institute Devon, United Kingdom E-mail: [email protected] VII Contents Preface V 1. Robotic Solutions in Pediatric Rehabilitation 001 Michael Bailey-Van Kuren 2. Biomechanical Constraints in the Design of Robotic Systems for Tremor 013 Suppression Juan-Manuel Belda-Lois, Álvaro Page, José-María Baydal-Bertomeu, Rakel Poveda and Ricard Barberà 3. Robotics and Virtual Reality Applications in Mobility Rehabilitation 027 Rares F. Boian, Grigore C. Burdea and Judith E. Deutsch 4. Designing Safety-Critical Rehabilitation Robots 043 Stephen Roderick and Craig Carignan 5. Work Assistive Mobile Robot for the Disabled in a Real Work Environ- 065 ment Hyun Seok Hong, Jung Won Kang and Myung Jin Chung 6. The Evolution and Ergonomics of Robotic-Assisted Surgical Systems 081 Oussama Elhage, Ben Challacombe, Declan Murphy, Mohammed S Khan and Prokar Dasgupta 7. Design and Implementation of a Control Architecture for Rehabilitation 091 Robotic Systems Duygun Erol and Nilanjan Sarkar 8. A 3-D Rehabilitation System for Upper Limbs “EMUL”, and a 6-DOF 115 Rehabilitation System “Robotherapist”, and Other Rehabilitation System with High Safety Junji Furusho and Takehito Kikuchi 9. The Rehabilitation Robots FRIEND-I & II: Daily Life Independency through 137 Semi-Autonomous Task-Execution Christian Martens, Oliver Prenzel and Axel Gräser 10. Functional Rehabilitation: Coordination of Artificial and 163 Natural Controllers Rodolphe Héliot, Christine Azevedo and Bernard Espiau 11. Passive-type Intelligent Walker Controlled Based on 187 Caster-like Dynamics Yasuhisa Hirata, Asami Muraki and Kazuhiro Kosuge VIII 12. Powered Human Gait Assistance 203 Kevin W. Hollander and Thomas G. Sugar 13. Task-oriented and Purposeful Robot-Assisted Therapy 221 Michelle J Johnson, Kimberly J Wisneski, John Anderson, Dominic Nathan, Elaine Strachota, Judith Kosasih, Jayne Johnston and Roger O. Smith 14. Applications of Robotics to Assessment and Physical Therapy of 243 Upper Limbs of Stroke Patients M.-S. Ju , C.-C. K. Lin , S.-M. Chen, I.-S. Hwang , P.-C. Kung and Z.-W. Wu 15. Applications of a Fluidic Artificial Hand in the Field of Rehabilitation 261 Artem Kargov, Oleg Ivlev, Christian Pylatiuk, Tamim Asfour, Stefan Schulz, Axel Gräser, Rüdiger Dillmann and Georg Bretthauer 16. Upper-Limb Exoskeletons for Physically Weak Persons 287 Kazuo Kiguchi and Toshio Fukuda 17. Cyberthosis: Rehabilitation Robotics With Controlled Electrical 303 Muscle Stimulation Patrick Métrailler, Roland Brodard, Yves Stauffer, Reymond Clavel and Rolf Frischknecht 18. Haptic Device System For Upper Limb Motor Impairment Patients: 319 Developing And Handling In Healthy Subjects Tasuku Miyoshi, Yoshiyuki Takahashi, Hokyoo Lee, Takafumi Terada, Yuko Ito, Kaoru Inoue and Takashi Komeda 19. Rehabilitation of the Paralyzed Lower Limbs Using Functional 337 Electrical Stimulation: Robust Closed Loop Control Samer Mohammed, Philippe Poignet, Philippe Fraisse and David Guiraud 20. Risk Evaluation of Human-Care Robots 359 Makoto Nokata 21. Robotic Exoskeletons for Upper Extremity Rehabilitation 371 Abhishek Gupta and Marcia K. O’Malley 22. Upper Limb Rehabilitation System for Self-Supervised Therapy: 397 Computer-Aided Daily Performance Evaluation for the Trauma and Disorder in the Spinal Cord and Peripheral Nerves Kengo Ohnishi, Keiji Imado, Yukio Saito and Hiroomi Miyagawa 23. PLEIA: A Reconfigurable Platform for Evaluation of HCI acting 413 Peralta H., Monacelli E., Riman C., Baklouti M., Ben Ouezdou F., Mougharbel I., Laffont I. and Bouteille J IX 24. Facial Automaton for Conveying Emotions as a Social Rehabilitation 431 Tool for People with Autism Giovanni Pioggia, Maria Luisa Sica, Marcello Ferro, Silvia Casalini, Roberta Igliozzi, Filippo Muratori, Arti Ahluwalia and Danilo De Rossi 25. Upper-Limb Robotic Rehabilitation Exoskeleton: Tremor Suppression 453 J.L. Pons, E. Rocon, A.F. Ruiz and J.C. Moreno 26. Lower-Limb Wearable Exoskeleton 471 J.L. Pons, J.C. Moreno, F.J. Brunetti and E. Rocon 27. Exoskeleton-Based Exercisers for the Disabilities of the 499 Upper Arm and Hand Ioannis Sarakoglou and Sophia Kousidou 28. Stair Gait Classification from Kinematic Sensors 523 Wolfgang Svensson and Ulf Holmberg 29. The ALLADIN Diagnostic Device: An Innovative Platform for Assessing 535 Post-Stroke Functional Recovery Stefano Mazzoleni, Jo Van Vaerenbergh, Andras Toth, Marko Munih, Eugenio Guglielmelli and Paolo Dario 30. Synthesis of Prosthesis Architectures and Design of 555 Prosthetic Devices for Upper Limb Amputees Marco Troncossi and Vincenzo Parenti-Castelli 31. An Embedded Control Platform of a Continuous Passive Motion 579 Machine for Injured Fingers Zhang Fuxiang 32. A Portable Robot for Tele-rehabilitation: Remote Therapy and 607 Outcome Evaluation Park, Hyung-Soon and Zhang, Li-Qun 33. Bio-inspired Interaction Control of Robotic Machines for Motor Therapy 619 Loredana Zollo, Domenico Formica and Eugenio Guglielmelli 1 Robotic Solutions in Pediatric Rehabilitation Michael Bailey-Van Kuren Miami University USA 1. Introduction The rehabilitation of pediatric patients involves unique constraints in comparison to adult rehabilitation. Therefore, the utilization of robotic technology in the rehabilitation of pediatric patients provides unique challenges. Research focusing on the application of robotic technology to pediatric cerebral palsy patients with spasticity is searching for flexible solutions that can address a wide range of patient capabilities. A variety of solutions are being investigated that place robotics in different roles in relation to the patient. Cerebral palsy describes a group of neuro-muscular disorders that are caused by injury to the brain during the brain’s developmental period.